U.S. patent application number 16/565131 was filed with the patent office on 2020-03-12 for rehabilitation device providing locomotion training and method of use.
The applicant listed for this patent is Healing Innovations, Inc.. Invention is credited to Luke Scott Benda, Scott Douglas Benda, Braden Joseph Davidson, Evan Andrew Reese, Christopher Zaro.
Application Number | 20200078251 16/565131 |
Document ID | / |
Family ID | 69719323 |
Filed Date | 2020-03-12 |
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United States Patent
Application |
20200078251 |
Kind Code |
A1 |
Benda; Scott Douglas ; et
al. |
March 12, 2020 |
REHABILITATION DEVICE PROVIDING LOCOMOTION TRAINING AND METHOD OF
USE
Abstract
In various embodiments, provided herein are systems, methods,
processes, and devices for providing locomotive rehabilitation to a
subject via one or more gait motions that substantially accurately
mimic motions performed in healthy, natural gait cycles. The system
may mimic natural gait motions via footplates and handles, and one
or more linkage systems. In particular embodiments, the system may
further include a motor unit and/or clutch for providing controlled
forces assisting or resisting motions of a linkage system. Further,
the system may include a tower for operating in a standing or
seated position. In at least one embodiment, the system includes a
body weight support system that provides offloading forces to a
subject.
Inventors: |
Benda; Scott Douglas;
(Hendersonville, TN) ; Benda; Luke Scott;
(Nashville, TN) ; Davidson; Braden Joseph;
(Nashville, TN) ; Reese; Evan Andrew; (Nashville,
TN) ; Zaro; Christopher; (Arlington Heights,
IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Healing Innovations, Inc. |
Nashville |
TN |
US |
|
|
Family ID: |
69719323 |
Appl. No.: |
16/565131 |
Filed: |
September 9, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62728762 |
Sep 8, 2018 |
|
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|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61H 2201/1445 20130101;
A61H 2201/149 20130101; A63B 2208/0204 20130101; A61H 1/0274
20130101; A61H 2201/14 20130101; A61H 1/0262 20130101; A61H
2201/0176 20130101; A63B 21/00181 20130101; A61H 2201/1642
20130101; A61H 2205/06 20130101; A61H 1/0237 20130101; A61H 2205/12
20130101; A61H 2201/1635 20130101; A61H 2201/5035 20130101; A61H
2201/5061 20130101; A61H 2201/0192 20130101; A61H 2201/5007
20130101; A61H 2205/10 20130101; A61H 2201/1215 20130101; A61H
2201/1633 20130101; A61H 2201/5043 20130101; A63B 21/225 20130101;
A61H 2201/1269 20130101; A61H 2201/1676 20130101; A61H 2201/1664
20130101; A61H 2201/50 20130101; A61H 2201/5064 20130101; A63B
21/0058 20130101; A61H 3/008 20130101; A61H 2201/1652 20130101;
A63B 22/0664 20130101; A63B 22/0017 20151001; A63B 2022/0676
20130101; A61H 2201/5038 20130101; A61H 2203/0406 20130101; A63B
2208/0233 20130101; A61H 1/0229 20130101; A61H 2201/1623 20130101;
A61H 2201/5058 20130101; A61H 2001/0211 20130101; A61H 2230/805
20130101; A61H 2203/0431 20130101; A63B 22/001 20130101; A63B
21/157 20130101 |
International
Class: |
A61H 1/02 20060101
A61H001/02; A63B 22/00 20060101 A63B022/00; A63B 22/06 20060101
A63B022/06; A63B 21/005 20060101 A63B021/005; A63B 21/00 20060101
A63B021/00; A63B 21/22 20060101 A63B021/22 |
Claims
1. A gait training device comprising: a handle for training arm
motion; a footplate for training leg motion, wherein motion of the
footplate causes: motion of an inner footplate link thereby causing
a curved link operatively connected to the inner footplate link to
rotate and engage a gear system; the gear system to rotate a first
connecting link, wherein: the first connecting link is
substantially parallel with a second connecting link; the first
connecting link and the second connecting link are operatively
connected near opposite ends of a portion of the handle link; and
rotation of the first connecting link causes the handle link to
move in an arc, thereby causing the handle to move with the handle
link in the arc, substantially mimicking hand motion of a human
walking gait.
2. The gait training device of claim 1, wherein the gait training
device comprises a linkage system operatively connected to the
handle and the footplate for synchronizing the leg motion and the
arm motion, the linkage system comprising: the first connecting
link; the handle link; the curved link; the inner footplate link;
the gear system; and a sled plate substantially perpendicular to a
surface.
3. The gait training device of claim 2, wherein: the curved link is
operatively connected to the inner footplate link, the sled plate
at a forward fixed point, and a gear system; and the curved link is
operative for rotating about the forward fixed point.
4. The gait training device of claim 3, wherein: the portion of the
handle link is a first portion; and the first portion of the handle
link is substantially parallel to the surface; and the handle link
comprises a second portion forming an acute angle to the first
portion.
5. The gait training device of claim 4, wherein the footplate is
configured to move along a base.
6. The gait training device of claim 5, wherein the footplate:
comprises a toe end nearest the sled plate and a heel end furthest
from the sled plate; and is configured to pivot such that the toe
end and heel end raise or lower as the footplate moves along the
base.
7. The gait training device of claim 6, wherein moving the
footplate a first particular distance parallel to the base causes
the handle to move along the arc a second particular distance
parallel to the base, wherein the second particular distance is
less than the first particular distance.
8. The gait training device of claim 7, wherein a difference
between the second particular distance and the first particular
distance are proportional to a difference between an average
person's arm length and leg length.
9. The gait training device of claim 8, wherein the difference
between the second particular distance and the first particular
distance is at least partially controlled by the gear system.
10. The gait training device of claim 9, wherein the linkage system
comprises a driving link operatively connected to the sled plate at
a central fixed point, the driving link operative for rotating
about the central fixed point.
11. The gait training device of claim 10, wherein the driving link
is operatively connected to a clutch and transmission system.
12. The gait training device of claim 11, wherein the clutch is a
magnetic particle clutch.
13. The gait training device of claim 12, wherein the gait training
device comprises an outer footplate link operatively connected to
the driving link and the footplate.
14. The gait training device of claim 13, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
15. The gait training device of claim 13, wherein the clutch and
transmission system provide resistance to motion of the footplate
via the driving link and outer footplate link.
16. A gait training device comprising: a handle for training arm
motion; a footplate for training leg motion; and a linkage system
operatively connected to the handle and the footplate for
synchronizing the leg motion and the arm motion, the linkage system
comprising: a first connecting link; a handle link; a curved link;
a inner footplate link; a gear system; and a sled plate
substantially perpendicular to a surface, wherein motion of the
footplate causes: motion of the inner footplate link thereby
causing the curved link operatively connected to the inner
footplate link to rotate and engage the gear system; and the gear
system to rotate a first connecting link, wherein: the first
connecting link is substantially parallel with a second connecting
link; the first connecting link and the second connecting link are
operatively connected near opposite ends of a portion of the handle
link; and rotation of the first connecting link causes the handle
link to move in an arc, thereby causing the handle to move with the
handle link in the arc, substantially mimicking hand motion of a
human walking gait.
17. The gait training device of claim 16, wherein the linkage
system comprises a driving link operatively connected to the sled
plate at a central fixed point, the driving link operative for
rotating about the central fixed point.
18. The gait training device of claim 17, wherein the gait training
device comprises an outer footplate link operatively connected to
the driving link and the footplate.
19. The gait training device of claim 18, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
20. The gait training device of claim 18, wherein the clutch and
transmission system provide resistance to motion of the footplate
via the driving link and outer footplate link.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application:
[0002] claims the benefit of and priority to U.S. Patent
Application No. 62/728,762, filed Sep. 8, 2018, entitled
"REHABILITATION DEVICE PROVIDING LOCOMOTIVE TRAINING AND METHOD OF
USE"; and
[0003] references U.S. Pat. No. 9,248,071, each of which are
incorporated herein by reference in their entireties.
TECHNICAL FIELD
[0004] The present systems and methods relate generally to
providing locomotion training for rehabilitation or other uses.
BACKGROUND
[0005] A primary objective of locomotive rehabilitation may be to
restore a subject's strength and retrain the subject to walk in a
natural gait cycle, under their own power. An exemplary locomotive
rehabilitation subject may lack sufficient strength (e.g., in their
legs, feet, core, etc.) to move their extremities through a normal
gait cycle. Alternatively, or in addition, an exemplary subject may
lack sufficient coordination to correctly position and direct their
extremities through a gait cycle. For example, a stroke patient may
experience muscle weakness and diminished coordination in their
legs, and, thus, may be incapable of walking under their own power.
Previous approaches to providing locomotive rehabilitation have
attempted to address strength and coordination issues via multiple
machines that may iteratively progress a subject through a
locomotive rehabilitation program. For example, a subject may use a
wheelchair and, at an initial phase of a rehabilitation program,
may use locomotive rehabilitation systems and machines designed
exclusively for use by wheelchair-confined subjects. Such systems
and machines may operate only in a seated configuration and, thus,
may be unsuitable for training a standing subject. In the same
example, the subject may, at a certain phase of their program, be
capable of standing and, thus, may be directed to proceed with
locomotive rehabilitation via systems and machines designed only
for operation by a standing subject.
[0006] In the above example, the subject required at least two
systems or machines to experience locomotive rehabilitation.
Because locomotive rehabilitation systems and may be costly,
previous solutions that require multiple systems may be
prohibitively expensive for both patients and care providers. In
addition, locomotive rehabilitation systems may occupy a large
space and, thus, a care provider may be unable to provide a full
and necessary spectrum of rehabilitation systems, because they lack
the space to house each system. Accordingly, there exists a
long-felt, but unmet need for a single locomotive rehabilitation
system that provides locomotive rehabilitation in both standing and
seated positions.
[0007] In addition, an exemplary locomotive rehabilitation subject
may lack sufficient strength to support their full weight in a
standing position; however, they may have sufficient strength to
support a portion of their weight in a standing position. Previous
approaches to locomotive rehabilitation fail to provide apparatuses
and/or mechanisms that allow a subject to receive locomotive
rehabilitation in a standing position supporting a less than total
portion of their weight. Accordingly, there exists a long-felt, but
unmet need for a locomotive rehabilitation system that allows a
subject to perform locomotive rehabilitation exercises in a
standing position and while supporting only a portion of their
total weight.
BRIEF SUMMARY OF THE DISCLOSURE
[0008] Briefly described, and according to one embodiment, aspects
of the present disclosure generally relate to devices and methods
for providing therapeutic locomotive training.
[0009] In various embodiments, provided herein are systems,
methods, processes, and devices for providing locomotive
rehabilitation to a subject. In one or more embodiments, the system
may be operated in a standing position or a seated position, and
the system may include one or more apparatuses that transition the
system between a standing configuration mode and a seated
configuration mode. In at least one embodiment, the system may
allow a subject to transition between a standing configuration and
a seated configuration (and vice versa) without requiring the
patient to exit the machine. In one or more embodiments, a portion
of the system that receives a subject may also be capable of
rotating such that a subject may more easily position themselves
onto a seating system therein.
[0010] In at least one embodiment, the system may include one or
more apparatuses that allow a subject to experience locomotive
rehabilitation while supporting only a portion of their own weight.
In at least one embodiment, the system includes a body weight
support (BWS) system that can controllably and incrementally
offload a subject's weight, potentially reducing stresses and
strains experienced by the subject during training, and, in some
instances, providing standing locomotive training to subjects that
may otherwise be incapable of performing standing exercises.
[0011] In at least one embodiment, the system may include a linkage
system that allows a subject to experience locomotive
rehabilitation via a mechanically facilitated and, in some
instances, power-assisted gait cycle. In one or more embodiments,
the linkage system may provide an artificial gait cycle that
accurately performs foot, leg, and arm movements involved in a
natural gait cycle. In one or more embodiments, the linkage system
may include footplates that receive a subject's feet and handles
that a subject may grip. In various embodiments, the linkage system
may direct the footplates and handles through coordinated,
simultaneous footplate and handle movements that recreate foot and
arm movements demonstrated in a natural gait cycle.
[0012] In one or more embodiments, the system may include a clutch
that allows the system to provide variable resistance opposing a
subject's motions during locomotive rehabilitation. In at least one
embodiment, the system may include a motor unit that can be
controllably connected and disconnected from the clutch. For
example, the clutch may be operative to controllably connect and
disconnect the motor unit thereto. In one or more embodiments, the
motor unit, upon activation, may generate rotational forces that
provide powered assistance to a subject receiving locomotive
rehabilitation. In at least one embodiment, the clutch connected to
the motor unit may allow for precise control and manipulation of a
magnitude of assistance provided to a subject.
[0013] In one or more embodiments, the present system may be
configurable and capable of adjusting one or more system parameters
and apparatuses to accommodate a variety of subject dimensions and
weights. In one or more embodiments, the system may include
mechanisms that increase or decrease a stride length experienced
during locomotive training. In at least one embodiment, the system
may include mechanisms for adjusting height of a seating system,
for adjusting a distance between a subject and a linkage system,
and/or for adjusting a distance between a subject and handles
and/or footplates.
[0014] According to a first aspect, a gait training device
including A) a handle for training arm motion; and B) a footplate
for training leg motion, wherein motion of the footplate causes: 1)
motion of an inner footplate link thereby causing a curved link
operatively connected to the inner footplate link to rotate and
engage a gear system; 2) the gear system to rotate a first
connecting link, wherein: i) the first connecting link is
substantially parallel with a second connecting link; ii) the first
connecting link and the second connecting link are operatively
connected near opposite ends of a portion of the handle link; and
iii) rotation of the first connecting link causes the handle link
to move in an arc, thereby causing the handle to move with the
handle link in the arc, substantially mimicking hand motion of a
human walking gait.
[0015] According to a second aspect, the gait training device of
the first aspect or any other aspect, wherein the gait training
device includes a linkage system operatively connected to the
handle and the footplate for synchronizing the leg motion and the
arm motion, the linkage system including: A) the first connecting
link; B) the handle link; C) the curved link; D) the inner
footplate link; E) the gear system; and F) a sled plate
substantially perpendicular to a surface.
[0016] According to a third aspect, the gait training device of the
second aspect or any other aspect, wherein: A) the curved link is
operatively connected to the inner footplate link, the sled plate
at a forward fixed point, and a gear system; and B) the curved link
is operative for rotating about the forward fixed point.
[0017] According to a fourth aspect, the gait training device of
the third aspect or any other aspect, wherein: A) the portion of
the handle link is a first portion; B) the first portion of the
handle link is substantially parallel to the surface; and C) the
handle link includes a second portion forming an acute angle to the
first portion.
[0018] According to a fifth aspect, the gait training device of the
fourth aspect or any other aspect, wherein the footplate is
configured to move along a base.
[0019] According to a sixth aspect, the gait training device of the
fifth aspect or any other aspect, wherein the footplate: A)
includes a toe end nearest the sled plate and a heel end furthest
from the sled plate; and B) is configured to pivot such that the
toe end and heel end raise or lower as the footplate moves along
the base.
[0020] According to a seventh aspect, the gait training device of
the sixth aspect or any other aspect, wherein moving the footplate
a first particular distance parallel to the base causes the handle
to move along the arc a second particular distance parallel to the
base, wherein the second particular distance is less than the first
particular distance.
[0021] According to an eighth aspect, the gait training device of
the seventh aspect or any other aspect, wherein a difference
between the second particular distance and the first particular
distance are proportional to a difference between an average
person's arm length and leg length.
[0022] According to a ninth aspect, the gait training device of the
eighth aspect or any other aspect, wherein the difference between
the second particular distance and the first particular distance is
at least partially controlled by the gear system.
[0023] According to a tenth aspect, the gait training device of the
ninth aspect or any other aspect, wherein the linkage system
includes a driving link operatively connected to the sled plate at
a central fixed point, the driving link operative for rotating
about the central fixed point.
[0024] According to an eleventh aspect, the gait training device of
the tenth aspect or any other aspect, wherein the driving link is
operatively connected to a clutch and transmission system.
[0025] According to a twelfth aspect, the gait training device of
the eleventh aspect or any other aspect, wherein the clutch is a
magnetic particle clutch.
[0026] According to a thirteenth aspect, the gait training device
of the twelfth aspect or any other aspect, wherein the gait
training device includes an outer footplate link operatively
connected to the driving link and the footplate.
[0027] According to a fourteenth aspect, the gait training device
of the thirteenth aspect or any other aspect, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
[0028] According to a fifteenth aspect, the gait training device of
the thirteenth aspect or any other aspect, wherein the clutch and
transmission system provide resistance to motion of the footplate
via the driving link and outer footplate link.
[0029] According to a sixteenth aspect, a gait training device
including: A) a handle for training arm motion; B) a footplate for
training leg motion; and C) a linkage system operatively connected
to the handle and the footplate for synchronizing the leg motion
and the arm motion, the linkage system including: 1) a first
connecting link; 2) a handle link; 3) a curved link; 4) an inner
footplate link; 5) a gear system; and 6) a sled plate substantially
perpendicular to a surface, wherein motion of the footplate causes:
i) motion of the inner footplate link thereby causing the curved
link operatively connected to the inner footplate link to rotate
and engage the gear system; and ii) the gear system to rotate a
first connecting link, wherein: a) the first connecting link is
substantially parallel with a second connecting link; b) the first
connecting link and the second connecting link are operatively
connected near opposite ends of a portion of the handle link; and
c) rotation of the first connecting link causes the handle link to
move in an arc, thereby causing the handle to move with the handle
link in the arc, substantially mimicking hand motion of a human
walking gait.
[0030] According to a seventeenth aspect, the gait training device
of the sixteenth aspect or any other aspect, wherein the linkage
system includes a driving link operatively connected to the sled
plate at a central fixed point, the driving link operative for
rotating about the central fixed point.
[0031] According to a eighteenth aspect, the gait training device
of the seventeenth aspect or any other aspect, wherein the gait
training device includes an outer footplate link operatively
connected to the driving link and the footplate.
[0032] According to a nineteenth aspect, the gait training device
of the eighteenth aspect or any other aspect, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
[0033] According to a twentieth aspect, the gait training device of
the eighteenth aspect or any other aspect, wherein the clutch and
transmission system provide resistance to motion of the footplate
via the driving link and outer footplate link.
[0034] According to a twenty-first aspect, a gait training device
including: A) a handle for training arm motion; B) a footplate for
training leg motion; and C) a linkage system operatively connected
to the handle and the footplate for synchronizing the leg motion
and the arm motion, the linkage system including: 1) a sled plate
substantially perpendicular to a surface; 2) a driving link
operatively connected to the sled plate at a central fixed point,
the driving link operative for rotating about the central fixed
point; 3) an inner footplate link operatively connected to the
footplate; 4) a curved link operatively connected to the inner
footplate link, the sled plate at a forward fixed point, and a gear
system, the curved link operative for rotating about the forward
fixed point; 5) a handle link operatively connected to the handle,
a first connecting link, and a second connecting link; and 6) the
first connecting link operatively connected to the gear system and
rotatably connected to the sled plate at a medial fixed point,
wherein: i) the first connecting link and the second connecting
link are substantially parallel and rotatably connected to the sled
plate; ii) the handle link includes: a) a first portion
substantially parallel to the surface; and b) a second portion
forming an acute angle to the first portion; iii) movement of the
footplate causes retraction and extension of the inner footplate
link thereby causing the curved link to rotate about the forward
fixed point and engage the gear system; and iv) the gear system
rotates the first connecting link about the medial fixed point,
causing the first portion of the handle link and the handle to
translate.
[0035] According to a twenty-second aspect, the gait training
device of the twenty-first aspect or any other aspect, wherein the
driving link is operatively connected to a clutch and transmission
system.
[0036] According to a twenty-third aspect, the gait training device
of the twenty-second aspect or any other aspect, wherein the clutch
is a magnetic particle clutch.
[0037] According to a twenty-fourth aspect, the gait training
device of the twenty-third aspect or any other aspect, wherein the
footplate is configured to move along a base.
[0038] According to a twenty-fifth aspect, the gait training device
of the twenty-fourth aspect or any other aspect, wherein the
footplate: A) includes a toe end nearest the sled plate and a heel
end furthest from the sled plate; and B) is configured to pivot
such that the toe end and heel end raise or lower as the footplate
moves along the base.
[0039] According to a twenty-sixth aspect, the gait training device
of the twenty-fifth aspect or any other aspect, wherein moving the
footplate a first particular distance causes the handle to
translate via the gear system a second particular distance, wherein
the second particular distance is less than the first particular
distance.
[0040] According to a twenty-seventh aspect, the gait training
device of the twenty-sixth aspect or any other aspect, wherein a
difference between the second particular distance and the first
particular distance are proportional to a difference between an
average person's arm length and leg length.
[0041] According to a twenty-eighth aspect, the gait training
device of the twenty-seventh aspect or any other aspect, wherein
the difference between the second particular distance and the first
particular distance is at least partially controlled by the gear
system.
[0042] According to a twenty-ninth aspect, the gait training device
of the twenty-eighth aspect or any other aspect, wherein the gait
training device includes an outer footplate link operatively
connected to the driving link and the footplate.
[0043] According to a thirtieth aspect, the gait training device of
the twenty-ninth aspect or any other aspect, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
[0044] According to a thirty-first aspect, the gait training device
of the thirtieth aspect or any other aspect, wherein the clutch and
transmission system provide resistance to motion of the footplate
via the driving link and outer footplate link.
[0045] According to a thirty-second aspect, the gait training
device of the thirty-first aspect or any other aspect, wherein
motion of the footplate causes motion of the outer footplate link
and rotation of the driving link.
[0046] According to a thirty-third aspect, a gait training device
including: A) a handle for training arm motion; B) a footplate for
training leg motion; and C) a linkage system operatively connected
to the handle and the footplate for synchronizing the leg motion
and the arm motion, the linkage system including: 1) a sled plate
substantially perpendicular to a surface; 2) a driving link
operatively connected to the sled plate at a central fixed point,
the driving link operative for rotating about the central fixed
point; 3) an inner footplate link operatively connected to the
footplate; 4) a curved link operatively connected to the inner
footplate link, the sled plate at a forward fixed point, and a gear
system, the curved link operative for rotating about the forward
fixed point; 5) a handle link operatively connected to the handle,
a first connecting link, and a second connecting link; and 6) the
first connecting link operatively connected to the gear system and
rotatably connected to the sled plate at a medial fixed point,
wherein: i) the first connecting link and the second connecting
link are substantially parallel and rotatably connected to the sled
plate; ii) movement of the footplate causes retraction and
extension of the inner footplate link thereby causing the curved
link to rotate about the forward fixed point and engage the gear
system; and iii) the gear system rotates the first connecting link
about the medial fixed point, causing the handle to translate via
the handle link.
[0047] According to a thirty-fourth aspect, the gait training
device of the thirty-third aspect or any other aspect, wherein the
driving link is operatively connected to a clutch and transmission
system.
[0048] According to a thirty-fifth aspect, the gait training device
of the thirty-forth aspect or any other aspect, wherein the clutch
is a magnetic particle clutch.
[0049] According to a thirty-sixth aspect, the gait training device
of the thirty-third aspect or any other aspect, wherein the
footplate is configured to move along a base.
[0050] According to a thirty-seventh aspect, the gait training
device of the thirty-sixth aspect or any other aspect, wherein the
footplate: A) includes a toe end nearest the sled plate and a heel
end furthest from the sled plate; and B) is configured to pivot
such that the toe end and heel end raise or lower as the footplate
moves along the base.
[0051] According to a thirty-eighth aspect, the gait training
device of the thirty-sixth aspect or any other aspect, wherein
moving the footplate a first particular distance causes the handle
to translate via the gear system a second particular distance,
wherein the second particular distance is less than the first
particular distance.
[0052] According to a thirty-ninth aspect, the gait training device
of the thirty-eighth aspect or any other aspect, wherein a
difference between the second particular distance and the first
particular distance are proportional to a difference between an
average person's arm length and leg length.
[0053] According to a fortieth aspect, the gait training device of
the thirty-eighth aspect or any other aspect, wherein the
difference between the second particular distance and the first
particular distance is at least partially controlled by the gear
system.
[0054] According to a forty-first aspect, the gait training device
of the thirty-forth aspect or any other aspect, wherein the gait
training device includes an outer footplate link operatively
connected to the driving link and the footplate.
[0055] According to a forty-second aspect, the gait training device
of the forty-first aspect or any other aspect, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
[0056] According to a forty-third aspect, the gait training device
of the forty-first aspect or any other aspect, wherein the clutch
and transmission system provide resistance to motion of the
footplate via the driving link and the outer footplate link.
[0057] According to a forty-fourth aspect, a gait training process
including: A) training arm motion via a handle; and B) training leg
motion via a footplate, wherein: 1) a linkage system is operatively
connected to the handle and the footplate for synchronizing the leg
motion and the arm motion, the linkage system including: i) a sled
plate substantially perpendicular to a surface; ii) a driving link
operatively connected to the sled plate at a central fixed point,
the driving link operative for rotating about the central fixed
point; ii) an inner footplate link operatively connected to the
footplate; iii) a curved link operatively connected to the inner
footplate link, the sled plate at a forward fixed point, and a gear
system, the curved link operative for rotating about the forward
fixed point; iv) a handle link operatively connected to the handle,
a first connecting link, and a second connecting link; and v) the
first connecting link operatively connected to the gear system and
rotatably connected to the sled plate at a medial fixed point; 2)
the first connecting link and the second connecting link are
substantially parallel and rotatably connected to the sled plate;
3) the handle link includes: i) a first portion substantially
parallel to the surface; and ii) a second portion forming an acute
angle to the first portion; 4) movement of the footplate causes
retraction and extension of the inner footplate link thereby
causing the curved link to rotate about the forward fixed point and
engage the gear system; and 5) the gear system rotates the first
connecting link about the medial fixed point, causing the first
portion of the handle link and the handle to translate.
[0058] According to a forty-fifth aspect, the gait training process
of the forty-forth aspect or any other aspect, wherein the driving
link is operatively connected to a clutch and transmission
system.
[0059] According to a forty-sixth aspect, the gait training process
of the forty-fifth aspect or any other aspect, wherein the clutch
is a magnetic particle clutch.
[0060] According to a forty-seventh aspect, the gait training
process of the forty-sixth aspect or any other aspect, wherein the
footplate is configured to move along a base.
[0061] According to a forty-eighth aspect, the gait training
process of the forty-seventh aspect or any other aspect, wherein
the footplate: A) includes a toe end nearest the sled plate and a
heel end furthest from the sled plate; and B) is configured to
pivot such that the toe end and heel end raise or lower as the
footplate moves along the base.
[0062] According to a forty-ninth aspect, the gait training process
of the forty-eighth aspect or any other aspect, wherein moving the
footplate a first particular distance causes the handle to
translate via the gear system a second particular distance, wherein
the second particular distance is less than the first particular
distance.
[0063] According to a fiftieth aspect, the gait training process of
the forty-ninth aspect or any other aspect, wherein a difference
between the second particular distance and the first particular
distance are proportional to a difference between an average
person's arm length and leg length.
[0064] According to a fifty-first aspect, the gait training process
of the fiftieth aspect or any other aspect, wherein the difference
between the second particular distance and the first particular
distance is at least partially controlled by the gear system.
[0065] According to a fifty-second aspect, the gait training
process of the fifty-first aspect or any other aspect, wherein the
linkage system includes an outer footplate link operatively
connected to the driving link and the footplate.
[0066] According to a fifty-third aspect, the gait training process
of the fifty-second aspect or any other aspect, wherein a motor is
operatively connected to the clutch and transmission system and
causes rotation of the driving link, thereby causing motion of the
outer footplate link and the footplate.
[0067] According to a fifty-forth aspect, the gait training process
of the fifty-second aspect or any other aspect, wherein the clutch
and transmission system provide resistance to motion of the
footplate via the driving link and outer footplate link.
[0068] According to a fifty-fifth aspect, the gait training process
of the fifty-forth aspect or any other aspect, wherein motion of
the footplate causes motion of the outer footplate link and
rotation of the driving link.
[0069] According to a fifty-sixth aspect, a gait cycle training
device including: A) a handle for training arm motion; and B) a
footplate for training leg motion, wherein motion of the footplate
a first particular distance causes: 1) motion of an inner footplate
link thereby causing a curved link operatively connected to the
inner footplate link to rotate and engage a gear system; and 2) the
gear system to rotate a first connecting link, causing the handle
to translate in a direction substantially parallel to a
longitudinal axis of the handle a second particular distance via a
handle link operatively connected to the handle and the first
connecting link, wherein: i) the second particular distance is less
than the first particular distance; and ii) a difference between
the second particular distance and the first particular distance is
proportional to a difference between an average person's arm length
and an average person's leg length.
[0070] According to a fifty-seventh aspect, a gait cycle training
device including: A) a handle for training arm motion; B) a
footplate for training leg motion; and C) a linkage system
operatively connected to the handle and the footplate for
synchronizing the leg motion and the arm motion, the linkage system
including: 1) a driving link operatively connected to an outside
footplate link; 2) the outside footplate link operatively connected
to the footplate; 3) an inner footplate link operatively connected
to the footplate; 4) a curved link operatively connected to the
inner footplate link and a gear system; 5) a handle link
operatively connected to the handle, a first connecting link, and a
second connecting link; and 6) the first connecting link
operatively connected to the gear system, wherein: i) the first
connecting link and the second connecting link are substantially
parallel; ii) the handle link includes: a) a first portion
substantially parallel to a longitudinal axis of the handle; and b)
a second portion forming an acute angle to the first portion; iii)
rotation of the driving link causes retraction and extension of the
outer footplate link thereby causing the footplate to move; iv)
movement of the footplate causes retraction and extension of the
inner footplate link thereby causing the curved link to rotate and
engage the gear system; and v) the gear system rotates the first
connecting link, causing the first portion of the handle link and
the handle to translate in a direction substantially parallel to
the longitudinal axis of the handle.
[0071] According to a fifty-eighth aspect, a gait cycle training
device including: A) a handle for training arm motion; and B) a
footplate for training leg motion, wherein motion of the footplate
causes: 1) motion of an inner footplate link thereby causing a
curved link operatively connected to the inner footplate link to
rotate and engage a gear system; and 2) the gear system to rotate a
first connecting link, causing the handle to translate in a
direction substantially parallel to a longitudinal axis of the
handle via a handle link operatively connected to the handle and
the first connecting link.
[0072] According to a fifty-ninth aspect, a gait cycle training
device including: A) a handle for training arm motion; and B) a
footplate for training leg motion, wherein: 1) rotation of a
driving link causes retraction and extension of an outer footplate
link thereby causing the footplate to move; 2) movement of the
footplate causes retraction and extension of an inner footplate
link thereby causing an operatively connected curved link to rotate
about a fixed point and engage a gear system; and 3) the gear
system rotates a first connecting link about a second fixed point,
causing the handle to translate in a direction substantially
parallel to a longitudinal axis of the handle via a handle link
operatively connected to the first connecting link and the
handle.
[0073] According to a sixtieth aspect, a gait cycle training device
including: A) a handle for training arm motion; and B) a footplate
for training leg motion, wherein motion of the footplate a first
particular distance causes: 1) motion of an inner footplate link
thereby causing a curved link operatively connected to the inner
footplate link to rotate and engage a gear system; and B) the gear
system to rotate a first connecting link, causing the handle to
translate in a direction substantially parallel to a longitudinal
axis of the handle a second particular distance via a handle link
operatively connected to the handle and the first connecting link,
wherein: 1) the second particular distance is less than the first
particular distance; and 2) a difference between the second
particular distance and the first particular distance is
proportional to a difference between an average person's arm length
and an average person's leg length.
[0074] According to a sixty-first aspect, a gait cycle training
device including: A) a footplate for training leg motion in contact
with a base, wherein motion of the footplate a first particular
distance causes: 1) motion of an inner footplate link thereby
causing a curved link operatively connected to the inner footplate
link to rotate and engage a gear system; and 2) the gear system to
rotate a first connecting link, causing a handle to translate in a
direction substantially parallel to a longitudinal axis of the
handle a second particular distance via a handle link operatively
connected to the handle and the first connecting link, wherein: i)
the second particular distance is less than the first particular
distance; and ii) a difference between the second particular
distance and the first particular distance is proportional to a
difference between an average person's arm length and an average
person's leg length.
[0075] According to a sixty-second aspect, a gait cycle training
device including: A) a footplate for training leg motion in contact
with a base; B) a handle operatively connected to the footplate via
a linkage and gear system, wherein: 1) the linkage and gear system
cause the handle to move a handle distance substantially parallel
to the base in response to movement of the footplate a footplate
distance along the base; and 2) a difference between the handle
distance and the footplate distance is proportional to a difference
between an average person's arm length and an average person's leg
length.
[0076] According to a sixty-third aspect, the gait cycle training
device of the sixty-second aspect or any other aspect, wherein: A)
the gait training device includes an inner footplate link
operatively connected to the footplate; and B) in response to
movement of the footplate the footplate distance along the base,
the inner footplate link moves thereby causing a curved link
operatively connected to the inner footplate link to rotate and
engage the gear system
[0077] According to a sixty-forth aspect, the gait cycle training
device of the sixty-third aspect or any other aspect, wherein, in
response to movement of the footplate the footplate distance along
the base, the gear system causes a first connecting link to rotate,
causing the handle to translate in a direction substantially
parallel to the base the handle distance via a handle link
operatively connected to the handle and the first connecting
link.
[0078] According to a sixty-fifth aspect, a device for seated or
standing gait training including: A) a sled coupled to a base, the
sled including: 1) a handle for training arm motion; and 2) a
linkage and gear system operatively connected to the handle for
synchronizing the arm motion with the leg motion at a ratio
proportional to a ratio of an average person's arm length and leg
length, the linkage and gear system operatively connected to a
footplate; B) the footplate operatively connected to a base, the at
least one footplate for securing the foot of a user for gait
training; C) a tower operatively connected to the base, the tower
including: 1) at least one adjustable seat; and 2) a body weight
system for supporting a weight of a user during gait training.
[0079] According to a sixty-sixth aspect, the device of the
sixty-fifth aspect or any other aspect, wherein the tower includes
a seat back assembly for supporting a user's back during gait
training.
[0080] According to a sixty-seventh aspect, the device of the
sixty-sixth aspect or any other aspect, wherein: A) the tower
includes a seat bottom assembly including the at least one
adjustable seat; and B) the seat bottom assembly is operatively
connected to the seat back assembly.
[0081] According to a sixty-eighth aspect, the device of the
sixty-seventh aspect or any other aspect, wherein the seat back
assembly and the seat bottom assembly are adjustable for seated or
standing gait training.
[0082] According to a sixty-ninth aspect, the device of the
sixty-eighth aspect or any other aspect, wherein: A) the seat
bottom assembly is operatively connected to the seat back assembly;
and B) upon adjustment of the seat back assembly, the seat bottom
assembly substantially automatically adjusts.
[0083] According to a seventieth aspect, the device of the
sixty-ninth aspect or any other aspect, wherein: A) the seat bottom
assembly is hingedly connected to the seat back assembly via a
pivot mechanism; and B) horizontal adjustment of the seat back
assembly causes the seat bottom assembly to rotate about the pivot
mechanism.
[0084] According to a seventy-first aspect, the device of the
seventieth aspect or any other aspect, wherein: A) the seat back
assembly is fixed to a pivot plate defining a pivot track; B) the
seat bottom assembly is operatively connected to a roller
positioned with the pivot track; and C) horizontal adjustment of
the seat back assembly causes the roller to travel along the pivot
track thereby causing the seat bottom assembly to rotate about the
pivot mechanism.
[0085] According to a seventy-second aspect, the device of the
seventy-first aspect or any other aspect, wherein: A) the pivot
plate is a first pivot plate; B) the seat back assembly is fixed to
the first pivot plate and a second pivot plate; C) the pivot track
is a first pivot track; D) the second pivot plate defines a second
pivot track; E) the roller is positioned within the first pivot
track and the second pivot track; and F) the first pivot plate and
the second pivot plate are substantially parallel.
[0086] According to a seventy-third aspect, the device of the
seventy-second aspect or any other aspect, wherein the seat back
assembly is adjustable via an actuator.
[0087] According to a seventy-fourth aspect, a device for seated or
standing gait training including: A) a sled coupled to a base, the
sled including: 1) a handle for training arm motion; and 2) the
footplate operatively connected to a base, the at least one
footplate for securing the foot of a user for gait training; and B)
a tower operatively connected to the base, the tower including: 1)
a seat back assembly adjustable via an actuator for supporting a
user's back during gait training and fixed to at least one pivot
plate defining a pivot track; 2) an adjustable seat bottom assembly
hingedly connected to the seat back assembly via a pivot mechanism,
operatively connected to a roller positioned within the pivot
track, and including at least one adjustable seat, wherein
horizontal adjustment of the seat back assembly by the actuator
causes the roller to travel along the pivot track and the seat
bottom assembly to rotate about the pivot mechanism.
[0088] According to a seventy-fifth aspect, the device of the
seventy-forth aspect or any other aspect, wherein: A) the pivot
plate is a first pivot plate; B) the seat back assembly is fixed to
the first pivot plate and a second pivot plate; C) the pivot track
is a first pivot track; D) the second pivot plate defines a second
pivot track; E) the roller is positioned within the first pivot
track and the second pivot track; and F) the first pivot plate and
the second pivot plate are substantially parallel.
[0089] According to a seventy-sixth aspect, the device of the
seventy-fifth aspect or any other aspect, wherein rotation of the
bottom seat assembly is substantially proportional to horizontal
translation of the seat back assembly.
[0090] According to a seventy-seventh aspect, the device of the
seventy-sixth aspect or any other aspect, wherein the tower is
operatively connected to a rotation system, the rotation system for
rotating the tower with respect to the base.
[0091] According to a seventy-eighth aspect, the device of the
seventy-seventh aspect or any other aspect, wherein: A) the tower
is configured to rotate from a first position to a second position;
B) in the first position, the tower is positioned approximately 90
degrees with respect to the base; C) in the second position, the
tower is positioned approximately 0 degrees with respect to the
base.
[0092] According to a seventy-ninth aspect, the device of the
seventy-eighth aspect or any other aspect, wherein: A) a user can
sit on a portion of the seat assembly in the first position; and B)
a user can sit on the portion of the seat assembly in the second
position and attach a foot to the footplate.
[0093] According to an eightieth aspect, the device of the
seventy-ninth aspect or any other aspect, wherein the tower
assembly including a lock-pin system for locking to tower in the
first position or the second position.
[0094] According to an eighty-first aspect, the device of the
eightieth aspect or any other aspect, wherein the tower includes a
lock-pin system release positioned on an exterior portion.
[0095] According to an eighty-second aspect, the device of the
eighty-first aspect or any other aspect, wherein the tower is
configured to raise and lower the seat assembly.
[0096] According to an eighty-third aspect, the device of the
eighty-second aspect or any other aspect, wherein the tower
includes a body weight support (BWS) system for providing weight
offloading of the user.
[0097] According to an eighty-forth aspect, the device of the
eighty-third aspect or any other aspect, wherein the BWS system
includes an overhead support operatively connected to a tower, the
overhead support including a harness system for supporting weight
of the user.
[0098] According to an eighty-fifth aspect, the device of the
eighty-forth aspect or any other aspect, wherein the BWS system
wherein the overhead support is operatively connected to a force
transfer beam and a spring.
[0099] These and other aspects, features, and benefits of the
claimed invention(s) will become apparent from the following
detailed written description of the preferred embodiments and
aspects taken in conjunction with the following drawings, although
variations and modifications thereto may be effected without
departing from the spirit and scope of the novel concepts of the
disclosure.
BRIEF DESCRIPTION OF THE FIGURES
[0100] The accompanying drawings illustrate one or more embodiments
and/or aspects of the disclosure and, together with the written
description, serve to explain the principles of the disclosure.
Wherever possible, the same reference numbers are used throughout
the drawings to refer to the same or like elements of an
embodiment, and wherein:
[0101] FIG. 1 is a perspective view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0102] FIG. 2 is an exploded view of an exemplary weight offloading
system, according to one embodiment of the present disclosure.
[0103] FIG. 3 is a side view of an exemplary rehabilitation device,
according to one embodiment of the present disclosure.
[0104] FIG. 4 is a side view of an exemplary rehabilitation device,
according to one embodiment of the present disclosure.
[0105] FIG. 5 is an exploded view of an exemplary sit-stand system,
according to one embodiment of the present disclosure.
[0106] FIG. 6 is a side view of an exemplary rehabilitation device,
according to one embodiment of the present disclosure.
[0107] FIG. 7 is a side view of an exemplary rehabilitation device,
according to one embodiment of the present disclosure.
[0108] FIG. 8 is a side view of an exemplary rehabilitation device,
according to one embodiment of the present disclosure.
[0109] FIG. 9 is an exploded view of an exemplary tower, according
to one embodiment of the present disclosure.
[0110] FIG. 10 is a side view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0111] FIG. 11 is a side view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0112] FIG. 12 is an exploded view of an exemplary sled, according
to one embodiment of the present disclosure.
[0113] FIG. 13 is a side view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0114] FIG. 14 is a side view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0115] FIG. 15 is a side view of an exemplary rehabilitation
device, according to one embodiment of the present disclosure.
[0116] FIG. 16 is a flowchart showing an exemplary training
process, according to one embodiment.
[0117] FIG. 17 is a flowchart showing an exemplary system
configuration process, according to one embodiment.
[0118] FIG. 18 is a flowchart showing an exemplary safety process,
according to one embodiment.
[0119] FIG. 19 is a flowchart showing an exemplary manual training
process, according to one embodiment.
[0120] FIG. 20 is a flowchart showing an exemplary powered training
process, according to one embodiment.
[0121] FIG. 21 is a flowchart showing an exemplary BWS
configuration process, according to one embodiment.
[0122] FIG. 22 is a flowchart showing an exemplary stride length
configuration process, according to one embodiment.
DETAILED DESCRIPTION
[0123] For the purpose of promoting an understanding of the
principles of the present disclosure, reference will now be made to
the embodiments illustrated in the drawings and specific language
will be used to describe the same. It will, nevertheless, be
understood that no limitation of the scope of the disclosure is
thereby intended; any alterations and further modifications of the
described or illustrated embodiments, and any further applications
of the principles of the disclosure as illustrated therein are
contemplated as would normally occur to one skilled in the art to
which the disclosure relates. All limitations of scope should be
determined in accordance with and as expressed in the claims.
[0124] Whether a term is capitalized is not considered definitive
or limiting of the meaning of a term. As used in this document, a
capitalized term shall have the same meaning as an uncapitalized
term, unless the context of the usage specifically indicates that a
more restrictive meaning for the capitalized term is intended.
However, the capitalization or lack thereof within the remainder of
this document is not intended to be necessarily limiting unless the
context clearly indicates that such limitation is intended.
Overview
[0125] Aspects of the present disclosure generally relate to
systems and methods for providing walking rehabilitation.
[0126] In various embodiments, provided herein are systems,
methods, processes, and devices for providing locomotive
rehabilitation to a subject. In one or more embodiments, the system
may be operated in a standing position or a seated position, and
the system may include one or more apparatuses that transition the
system between a standing configuration mode and a seated
configuration mode. For example, the system may include a tower
containing a seating system that may be converted between a seated
configuration (e.g., where the seating system is configured to
receive a seated subject) and a standing configuration (e.g., where
the seating system is withdrawn, thereby providing space for the
system to receive a standing subject). In at least one embodiment,
the system may allow a subject to transition between a standing
configuration and a seated configuration (and vice versa) without
requiring the subject to exit the machine. In one or more
embodiments, a tower may also be capable of rotating such that a
subject may more easily position themselves onto a seating system
therein. For example, a seating system may be configured in a
seated configuration, and a tower, containing the seating system,
may be rotated outward by 90 degrees, thereby allowing a
wheelchair-confined subject to more easily orient themselves
therein.
[0127] In at least one embodiment, the system may include one or
more apparatuses that allow a subject to experience locomotive
rehabilitation while supporting only a portion of their own weight.
In at least one embodiment, the system includes a body weight
support (BWS) system that can controllably and incrementally
offload a subject's weight, potentially reducing stresses and
strains experienced by the subject during training, and, in some
instances, providing standing locomotive training to subjects that
may otherwise be incapable of performing standing exercises.
[0128] In at least one embodiment, the system may include a sled
containing one or more linkage systems that allow a subject to
experience locomotive rehabilitation via a mechanically facilitated
and, in some instances, power-assisted gait cycle. In one or more
embodiments, a linkage system may provide an artificial gait cycle
that substantially accurately performs foot, leg, and arm movements
involved in a natural gait cycle. For example, the linkage system
may allow a subject to proceed through all phases of a typical gait
cycle (as described herein), including, but not limited to, a
terminal stance phase, a toe-off phase, swing phase, an initial
contact phase, a loading response phase, and a mid-stance phase. In
one or more embodiments, the linkage system may include footplates
that receive a subject's feet and handles that a subject may grip
(e.g., with their hands). In various embodiments, the linkage
system may direct the footplates and handles through coordinated,
simultaneous footplate and handle movements that recreate foot and
arm movements demonstrated in a natural gait cycle.
[0129] For example, the linkage system may include one or more
links that rotate and/or translate in response to translational
forces applied by a subject (e.g., at footplates and/or handles),
and/or in response to rotational forces applied by a connected
motor unit. During a typical gait cycle, a forward translation of a
foot may be accompanied by a simultaneous reverse translation.
Accordingly, the linkage system may allow for simultaneous forward
translation of a footplate and reverse translation of a handle,
thereby providing a realistic mechanical recreation of a natural
gait cycle.
[0130] In one or more embodiments, the system may include a clutch
that allows the system to provide resistance to a subject's motions
throughout locomotive rehabilitation. For example, the system may
include a magnetic particle clutch that can provide controlled,
incremented resistances to movements of a linkage system. In at
least one embodiment, the system may include a motor unit that can
be controllably connected and disconnected via the clutch. In one
or more embodiments, the motor unit, upon activation, may generate
rotational forces that provide powered assistance to a subject
receiving locomotive rehabilitation. In at least one embodiment,
the clutch connected to the motor unit may allow for precise
control and manipulation of a magnitude of assistance provided to a
subject. In an exemplary scenario, a subject may begin a first
phase of training by operating a linkage system in a seated
position, with partial assistance provided via a motor unit. The
subject may then proceed to a second phase of training by operating
the linkage system in a standing position, with a portion of the
subject's weight being offloaded via a BWS system and a motor unit
and clutch providing diminished partial assistance. The subject may
then proceed to a third phase of training by operating the linkage
system in a standing position, with a clutch providing a small
amount of resistance and a motor unit providing no assistance. In
various embodiments, a clutch may allow the rehabilitation system
to safely accommodate involuntary (or voluntary) subject motions
such as falls, spasms, etc., because the clutch may allow system
footplates to "slip." For example, the clutch may allow the
footplates to slip, if a subject falls and/or experiences a spasm
that overcomes an assistance level configured by the clutch. In at
least one embodiment, slip of the footplates may reduce stress
loading experienced by a subject during a fall, spasm, etc.
[0131] In one or more embodiments, the present system may be
configurable and capable of adjusting one or more system parameters
and apparatuses to accommodate a variety of subject dimensions and
weights. For example, a BWS system may be capable of providing
offloading forces in a selectable range between about 0-300 pounds
and/or in a selectable range between about 0-285 pounds. As another
example, the system may include an actuation mechanism that can
incrementally increase or decrease a stride length experienced
during locomotive training. As an additional example, the system
may include actuation mechanisms for incrementally increasing or
decreasing height of a seating system, for adjusting a distance
between a subject and a linkage system, and/or for adjusting a
distance between a subject and handles and/or footplates.
[0132] In at least one embodiment, the system may include one or
more displays, interfaces, controllers, and/or computing systems
that can receive inputs and, based on inputs, adjust one or more
system configurations and/or parameters. In various embodiments,
the system may include one or more sensors for confirming safe
configuration of the system and/or a subject therein, for
collecting metrics describing locomotive rehabilitation training
performed by a subject, and/or for providing inputs to system
configuration processes. For example, the system may include
positional and/or proximity sensors for measuring positions of one
or more system components. As another example, the system may
include one or more safety contact sensors that, if engaged or
disengaged, cause the system to suspend training activities (e.g.,
via application of brakes, disengagement of a motor, etc.).
Exemplary Embodiments
[0133] Referring now to the figures, for the purposes of example
and explanation of the fundamental processes and components of the
disclosed systems and methods, reference is made to FIG. 1, which
illustrates an exemplary, high-level overview of one embodiment of
a rehabilitation system 100. As will be understood and appreciated,
the exemplary rehabilitation system 100 shown in FIG. 1 represents
merely one approach or embodiment of the present system, and other
aspects are used according to various embodiments of the present
system.
[0134] FIG. 1 is a perspective view of the exemplary rehabilitation
system 100, according to one embodiment of the present disclosure.
In at least one embodiment, the rehabilitation system 100 includes
a tower 101 and a sled 103. In one or more embodiments, the tower
101 and/or the sled 103 may be mounted atop a base 105. In various
embodiments, a base 105 may lie directly against a ground surface,
or may be displaced upwards from a ground surface via one or more
risers, or the like.
[0135] In various embodiments, a tower 101 and/or sled 103 may be
mounted atop a base 105 in a manner such the tower 101 and/or sled
103 may translate (e.g., slide) forward and/or backwards along the
base 105. For example, a base 105 may include one more channels for
receiving wheels (or another mechanism facilitating a translating
motion). In the same example, a sled 103 may include wheels, and
the wheels may be positioned in alignment within the one or more
channels of the base 105 (thereby facilitating translational
motions along the base 105).
[0136] In one or more embodiments, a tower 101 may function
independently of a track 105 and/or a sled 103. For example, a
tower 101 may be sold and may function without being oriented atop
a track 105 and/or without being oriented proximate to a sled 103.
In at least one embodiment, a sled 103 may function independently
of a tower 101 and/or a track 105. For example, a sled 103 may be
sold and may function without being oriented atop a track 105
and/or without being oriented proximate to a tower 101. As another
example, a tower 101 and a sled 103 may sold together, without a
track 105. In the same example, the sled 103 and tower 101 may
function (as described herein) without a track 105.
[0137] In at least one embodiment, the tower 101 may include a body
weight support (BWS) system 107 and a seating system 109. In one or
more embodiments, the BWS system 107 may provide weight offloading
to a subject 115. For example, a BWS system 107 may generate and
transmit a lifting force to the subject 115. The lifting force may
reduce a weight experienced by the subject 115, thereby
advantageously offloading downward forces (e.g., gravitational
forces) experienced by the subject 115. In at least one embodiment,
weight offloading may be desirable to a subject undergoing
locomotive rehabilitation, because the subject may lack sufficient
strength to support their full body weight in a standing position.
Accordingly, weight offloading (via the BWS system 107) may
proportionally reduce a magnitude of the body weight supported by
the subject, thereby advantageously allowing the subject to perform
locomotive rehabilitation exercises in a potentially less
cumbersome, less tiring, and, less painful manner.
[0138] In at least one embodiment, the seating system 109 may
provide a sit-stand configurability to the rehabilitation system
100. In one or more embodiments, a seating system 109 may include a
seated configuration and a standing configuration (and/or other
configurations). For example, the seating system 109 may include a
seat bottom assembly 201 and a seat back assembly 203 (FIG. 2). In
the same example, while in a seated configuration, the seat bottom
assembly 201 may be rotated such that a seat bottom 501 (FIG. 5) is
positioned orthogonal to the tower 101 (e.g., as is illustrated in
FIG. 1, such that a subject can sit on the seat assembly 109).
Also, while in the seated configuration, the seat back assembly may
be translated and/or extended horizontally such that a seat back
507 (FIG. 5) is positioned proximate to and/or in partial contact
with the seat bottom 501.
[0139] In another example, while in a standing configuration, the
seat bottom assembly 203 may be rotated downward from its position
in the seated configuration, and the seat bottom assembly 203 may
be drawn underneath the seat back assembly 203 and at least
partially within the tower 101 (e.g., as shown in FIG. 4). In the
same example, the seat back assembly 203 may be translated and/or
retracted horizontally (e.g., becoming flush against the tower
101). In at least one embodiment, configuration of the seating
system 109 may be determined via movement of one or more actuators
(as described herein), and actuator movement may cause coordinated
movement between the seat back assembly 203 and the seat bottom
assembly 201. In various embodiments, the sit-stand configurability
of the seating system 109 allows the rehabilitation system 100 to
operate in a sitting mode or a standing mode, and permits powered
transition between modes.
[0140] In one or more embodiments, providing seated and standing
locomotive rehabilitation capabilities in a single system may be
advantageous, because a subject 115 may need only one system,
instead of two or more, to perform seated and standing locomotive
rehabilitation. Previous solutions may require two or more systems
(e.g., two or more separate, distinct machines) to provide seated
and standing locomotive rehabilitation, thus the rehabilitation
system 100 may advantageously reduce costs of performing
position-varying locomotive rehabilitation. In addition, the
rehabilitation system 100 may advantageously reduce the amount of
training session time dedicated to moving patients between multiple
machines, thereby allowing for a greater proportion of training
session time to be spent performing rehabilitation exercises.
[0141] In at least one embodiment, the tower 101 may partially or
fully rotate (e.g., with respect to the base 105) to allow a
subject (e.g., subject 115) to enter or exit the apparatus. For
example, the tower 101 may rotate outward (e.g., in a
counter-clockwise or clockwise direction) in a manner such that the
tower 101 faces left and outward (or right and outward) from the
rehabilitation system 100.
[0142] In one or more embodiments, the sled 103 may include a
linkage system 111. In at least one embodiment, the linkage system
111 provides a gait cycle motion to a subject 115. For example,
legs of the subject 115 may be secured within footplates connected
to the linkage system 111. In the same example, the linkage system
111 may facilitate movement of the footplates along the base 105,
in a controlled gait cycle. In various embodiments, the linkage
system 111 may move (e.g., translate) one or more handles in a
motion synchronized with the footplates to a provided gait cycle.
For example, the linkage system 111 may coordinate substantially
accurate horizontal translations of one or more handles 1202 (FIG.
12) in synchronization with translations of one or more footplates
1204. In at least one embodiment, the linkage system 111
facilitates synchronization of hand and foot movements in a manner
that mimics natural hand and foot movements experienced in an
unassisted, typical gait cycle. In one or more embodiments,
synchronized hand and foot movements may advantageously improve
locomotive rehabilitation, because exercises therein may be more
anatomically holistic and physiologically realistic. In at least
one embodiment, synchronized hand and foot movements facilitated by
the rehabilitation system 100 may be distinct from hand and foot
movements facilitated by an elliptical machine, or the like. For
example, an elliptical machine does not facilitate hand, leg, and
foot motions that substantially accurately mimic hand, leg, and
foot motions experienced during a natural, healthy gait cycle. An
elliptical machine may facilitate exaggerated leg and foot
movements intended for use in recreational exercises where a
primary object may be to mimic athletic movements, or movements
that purposefully generate substantial exertion from a subject
therein (e.g., as opposed to training a subject to perform a
healthy, natural gait cycle, and incrementally developing subject
strength by mitigating exertion through powered assistance).
[0143] As described herein, a "natural", "normal", "healthy,"
and/or "typical" gait cycle generally refers to a sequence of
events (e.g., leg movements) that occur during bipedal locomotion.
A gait cycle may be divided into an advancing movement and a
retreating movement. In one or more embodiments, an advancing
movement includes, but is not limited to: 1) a terminal stance,
wherein: a) a subject's heel rises from a ground surface while the
subject's toes (on the same foot) remain grounded; b) the subject's
hand (on the same side of the body) is positioned forward of the
subject's foot, partially or wholly in front of the subject's
body); 2) a toe-off, wherein: a) the subject's toes rise with the
raised heel; and b) the subject's hand is drawn to a position
closer to the subject's body; and 3) a swing phase, wherein: a) the
subject's raised foot swings forward of the subject's hand, and the
subject's heel and toes rotate upward; and b) the subject's hand
moves across and partially or wholly behind the subject's body. In
various embodiments, a retreating movement includes, but is not
limited to: 1) an initial contact, wherein: a) the subject's heel,
following the swing phase, makes contact with a ground surface
while the subject's toes remain ungrounded; and b) the subject's
hand is positioned behind the subject's body further back from the
position experienced at the swing phase; 2) a loading response,
wherein: a) the subject's foot rotates about the grounded heel and
the subject's toes become grounded; and b) the subject's hand is
positioned behind the subject's body, but forward of the point
experienced at the initial contact phase; and 3) a mid-stance,
wherein: a) the subject aligns and/or balances their weight atop
their other foot (e.g., to begin the next gait cycle); and b) the
subject's hand is positioned near the subject's body, forward of
the subject's foot (e.g., the foot that experienced the mid-stance
phase). In at least one embodiment, a gait cycle may be represented
by a first arc, traced by a foot, and a second arc, traced by a
hand. In one or more embodiments, the first arc may be relatively
larger than the second arc. For example, during a gait cycle, a
foot may trace a first arc of relatively similar angular magnitude,
but relatively greater radius than a second arc traced by a hand.
In the same example, as the foot traces the first arc in a
counterclockwise direction, the hand may trace the second arc in a
clockwise direction (e.g., and vice versa).
[0144] In at least one embodiment, the rehabilitation system 100
may include one or more position detection sensors that track and
record orientations and positions of various system components and
elements described herein. In one or more embodiments, the one or
more position detectors may include, but are not limited to, hall
sensors, inductive sensors, infrared sensors, and other sensors
configured to measure and record positional data. For example, one
or more actuators described herein may include one or more hall
sensors that measure, record, and report a current positional state
of the actuator. In the same example, the rehabilitation system 100
may include a computing environment that receives positional data
from each hall sensor of each actuator. In at least one embodiment,
the rehabilitation system 100 may store positional data and other
information received from sensors distributed therein in memory or
via cloud-based data storage.
[0145] FIG. 2 includes an exploded view of an exemplary body weight
support (BWS) system 107 and portions of a seating system 109,
according to one embodiment of the present disclosure. In at least
one embodiment, the BWS system 107 may offload weight of a subject.
For example, a subject may be situated in front of a tower 101 of a
rehabilitation system 100 (FIG. 1). The subject may lack physical
strength necessary for standing, or otherwise properly positioning
themselves, within the tower 101. In other words, the subject,
without offloading, may be incapable of supporting at least a
portion of their own weight. The BWS system 107 may generate an
offloading force and transfer the offloading force to the subject
(as described herein) in a manner that effectively reduces (or
eliminates) the weight experienced by the subject. For example, the
BWS system 101 may generate an upward force that opposes a downward
force (e.g., caused by gravity and the subject's mass), thereby
reducing or eliminating the effective magnitude of the downward
force.
[0146] In one or more embodiments, the seating system 109 may
include a seat bottom assembly 201 that may be operatively
connected to a seat back assembly 203. For example, the seat bottom
assembly 201 may be connected to the seat back assembly 203 via one
or more pivot plates 513 (FIG. 5). In various embodiments, the seat
back assembly 203 may be operatively connected to an overhead
support 205 via a BWS linkage 221.
[0147] In various embodiments, the BWS system 107 can include, but
is not limited to, an overhead support 205, a force transfer beam
207, a spring 213, a spring actuator 217, and a controller (not
illustrated). In one or more embodiments, the overhead support 205
may be operatively connected to a body harness 209, and the body
harness 209 may connect to or be worn by a subject 115. In at least
one embodiments, a harness 209 may include one or more straps
and/or may be secured around, over, and/or under a subject 115. For
example, a harness 209 may include a vest that surrounds a subject
115. The vest may include one or more attachment points for
attaching cables, straps, or another connector, which may then be
used to connect the harness 115 to an overhead support 205. As
another example, a harness 209 may include a plurality of cables,
straps, and/or other connectors and fasteners that may attach to a
subject 115 (or a harness receipt worn by or attached to the
subject 115).
[0148] In at least one embodiment, the overhead support 205 may
also be operatively connected, via a central support 206, to the
force transfer beam 207. In one or more embodiments, the central
support 206 and force transfer beam 207 may present a substantially
quadrilateral cross-section, or may present a substantially
circular cross-section. The force transfer beam 207 can be
configured to rotate about a pivot point included in the BWS
linkage 221. The force transfer beam 207 may be connected to the
overhead support 205 at a first end. For example, the force
transfer beam may be attached (e.g., fastened, adhered, welded,
etc.) to a central support 206. The force transfer beam 207 may
also be connected to a first spring anchor 211 (e.g., on an end
opposite the attachment to the central support 206), thereby
linking the force transfer beam 207 to the spring 213. The spring
213 may be attached and/or affixed to a second spring anchor 215,
and the second spring anchor 215 may be secured to a spring
actuator rod 219 included in a spring actuator 217. The spring
actuator rod 219, via the spring actuator 217, may be configured to
reversibly and controllably translate down and up, thereby
stretching and contracting the spring 213. In at least one
embodiment, stretching of the spring 213 may increase a downward
tensile force acting upon the force transfer beam 207 (e.g., via
the connection between the spring and the force transfer beam 207).
In one or more embodiments, the force transfer beam 207 may convert
(via the pivot point) downward tensile forces into upward lifting
forces experienced by the overhead support 205, and the overhead
support 205 may transfer upward lifting forces to a subject 115 via
the harness 209, thereby offloading a portion or all of the
subject's weight.
[0149] In an exemplary gait cycle, a subject's effective height may
deviate up and down as the subject performs a step and proceeds
through phases of the gait cycle. In one or more embodiments, to
accommodate the height deviations, the overhead support 205 and
force transfer beam 207 may pivot upwards and downwards (e.g., for
example, 2 inches upwards and downward) in synchronization with the
gait-precipitated height deviations. In at least one embodiment,
the spring 213 may tolerate the upward and downward deviations of
the subject by contracting (from an initial position) and extending
(back to the initial position) in synchronization with the upward
and downward deviations. In various embodiments, accommodation of
gait-precipitated height deviations may provide for more consistent
weight offloading (e.g., as compared to previous, non-accommodating
rehabilitation systems), thereby advantageously maintaining a
realistic gait cycle and potentially reducing stresses and strains
experienced by the subject (e.g., because the subject will
experience weight off-loading throughout the entirety of their gait
cycle). In other words, a natural gait cycle may include "bumps"
(e.g., slight deviations). Accordingly, a gait cycle provided via a
rehabilitation system 100 may accommodate for "bumps" via a BWS
system 107 that allows for slight vertical deviations as a subject
walks (or otherwise proceeds through a gait cycle).
[0150] In one or more embodiments, a position of the spring
actuator rod 219 may control a stretch length of the spring 213,
and the stretch length of the spring 213 may determine a downward
tensile force and subsequent lifting force provided by the BWS
system 107. In at least one embodiment, positions of the spring
actuator rod 219 may be configured via one or more controllers. For
example, a position of the spring actuator rod 219 may be
configured via an electronic controller configured to communicate
with and transmit commands to the spring actuator. The electronic
controller may transmit commands that cause the spring actuator 217
to increase or decrease displacement of the spring actuator rod 219
(e.g., thereby configuring the rod position). Also, the electronic
controller may receive positional information from the spring
actuator, and may also receive weight and/or force information from
one or more position, weight and/or force sensors included in the
spring actuator 223 and/or the BWS system 107 (e.g., configured
between the overhead support 205 and the force transfer beam 207,
between the force transfer beam 207 and the spring anchor 211,
and/or between the first spring anchor 211 and the spring 213).
Thus, by controlling the stretch of the spring 213, the BWS system
107 can controllably and incrementally provide an offloading,
lifting force to a subject 115 configured within the rehabilitation
system 100.
[0151] In various embodiments, the BWS system 107 may include a
fail-safe 223. In at least one embodiment, the fail-safe 223 may
provide a maximum pivot for the force transfer beam 207, and may
prevent the force transfer beam 207 and overhead support 205 from
over-rotating (e.g., for example, if the force transfer beam 207
were to become disconnected from the spring 213). For example, if
the first spring anchor 211 were to fail and the spring 213, loaded
with tensile force, were to become disconnected from the force
transfer beam 207, the fail-safe 223 may prevent the force transfer
beam from over-rotating (e.g., which may cause an undesirably
rapid, extended drop of a subject 115 configured in the BWS system
107). In the same example, the force transfer beam 207 may
experience an initial pivot, but, upon coming into contact with the
fail-safe 223, the force transfer beam 207 may be halted (e.g., and
thus an extended drop of a subject 115 may be stopped). In the same
example, a harness 209 may also provide for an elastic buffer
against rapid stops and/or halted drops, because the harness 209
may flex to cushion a subject 115 against an undesirably abrupt
drop.
[0152] In at least one embodiment, the system includes an overhead
support 205. In various embodiments, the overhead support may be
operatively connected to the seat back brace 511 (FIG. 2) via a BWS
linkage 221. In one or more embodiments, an overhead support 205
may include a substantially "U"-shaped configuration of support
elements. For example, an overhead support may include a first
supporting arm that is oriented parallel to a second supporting
arm. The first and second supporting arms may be operatively
connected via a central support 206, thereby forming a
substantially "U"-shaped configuration. In various embodiments, as
described herein, the central support 206 may be attached to a
force transfer beam 207, thereby allowing the central support 206
and force transfer beam 207 to move as a single unit.
[0153] In at least one embodiment, the substantially "U"-shaped
configuration may allow the overhead support 205 to equally
distribute an offloading force between two or more subject lift
points (e.g., such as a subject's underarms and/or shoulders).
Equal distribution of offloading forces between two or more points
may advantageously provide additional support and stability to a
subject 115 connected to the BWS apparatus 107. Also, equal
distribution of offloading forces may reduce stress and strain
concentrations experienced by a subject and/or the offloading
system. Reduction of stress and strain concentrations may be
especially advantageous and desirable for subjects experiencing
conditions and/or illnesses that weaken skeletomuscular structures,
increase likelihood of pressure-related injuries (for example,
contusions) and/or present one or more other ambulatory
complications. In one or more embodiments, the substantially
"U"-shaped configuration to allow the overhead support 205 to be
oriented substantially over at least a portion of a subject (for
example, a subject's head or shoulders).
[0154] In one or more embodiments, an overhead support 205 may
include one or more shapes that allow for equal distribution of
lifting and/or offloading forces about a subject. In at least one
embodiment, an overhead support 205 shape may include, but is not
limited to: 1) a "U"-shape; 2) one or more arcs; 3) one or more
circles; 4) one or more quadrilaterals; and 5) one or more
polygons, polyhedrons, or other shapes. For example, an overhead
support 205 may include a circular shape that allows for a
plurality of attachment points about which to distribute offloading
forces (e.g., and also attach a harness 209).
[0155] In various embodiments, the central support 206 may be
operatively connected to the BWS linkage 221, thereby securing the
overhead support 205 to a seat back brace 511. In one or more
embodiments, the central support 206 may be secured to the BWS
linkage via a fixture mechanism that also allows the central
support 206 (e.g., and thus the overhead support 205) to pivot
about the fixture mechanism. In at least one embodiment, pivot of
the central support 206 about the BWS linkage 221 may convert
downward forces from a spring 213 into upward forces (e.g., that
are transmitted to a connected overhead support 205, harness 209,
and a subject 115).
[0156] In at least one embodiment, the support attachment 208 may
include one or more hinges operatively connecting the support
attachment 208 to each arm of an overhead support 205, and each arm
may rotate about the one or more hinges. In one or more
embodiments, each arm of the overhead support 205 may freely rotate
about the support attachment 208 (e.g., and a connected central
support 206) by a magnitude measuring between about 0-90 degrees.
In at least one embodiment, rotation of the overhead support 205
may advantageously permit configuration of the overhead support 205
away from the seat back assembly 203, for example, in instances
where a subject 115 does not require the BWS system 107. As another
example, rotation of the overhead support 205 may also
advantageously increase ease of entry into and exit from the
seating system 109.
[0157] In one or more embodiments, the overhead support 205 may be
rotatable in a counterclockwise manner from a maximum
counterclockwise position to a maximum clockwise position. In one
or more embodiments, a maximum counterclockwise position may refer
to an orientation where the overhead support 205 is positioned
substantially orthogonal to a medial axis 301 (FIG. 3). In one or
more embodiments, a maximum clockwise position may refer to an
orientation where the overhead support 205 is positioned
substantially parallel to and/or greater than 0 degrees clockwise
from a medial axis 301 (e.g., as illustrated in FIG. 3). In at
least one embodiment, the support attachment 208 may include one or
more stops that limits rotation of the overhead support 107 about
the support attachment 208. In one or more embodiments, the one or
more stops may permit rotation of the overhead support within the
angular movement ranges described herein, but may prevent rotation
past a maximum counterclockwise position. For example, the one or
more stops may allow the overhead support 205 to rotate between
about 0-90 degrees (e.g., clockwise), but may prevent the overhead
support 205 from rotating greater than 0 degrees counterclockwise
or greater than 90 degrees clockwise. In the same example, the one
or more stops may include a back plate that, upon the overhead
support 205 being rotated to about 0 degrees with respect to the
support attachment 208, comes into contact with the support
attachment 208 and prevents further counterclockwise rotation of
the overhead support 205.
[0158] FIG. 3 is a side view of an exemplary rehabilitation system
100 as would be configured prior to activation of a BWS system 107.
For illustrative and descriptive purposes, in FIG. 3, one or more
portions of the rehabilitation system 100 may be excluded to allow
for presentation and discussion of various internal system elements
provided herein. In at least one embodiment, the BWS system 107,
prior to activation, may include a spring 213 configured in a
relaxed, un-stretched state (or a first stretched state measuring
less than a secondary, activated stretched state). In one or more
embodiments, a spring actuator 217 and a spring actuator rod 219
may be in a first, extended position. In various embodiments, a
force transfer beam 207 and overhead support 205 may be in a
non-flexed and/or rest state, and a harness 209 may be in a
slackened state (or may otherwise be substantially devoid of
tension). In at least one embodiment, a subject 115 configured
within the rehabilitation system 100 and the BWS system 107 may
experience, prior to activation of the BWS system 107, a full
magnitude of the subject's own weight or the subject's weight may
be supported by the seat assembly 109.
[0159] In an exemplary, non-offloading scenario, a subject 115 may
be secured to an overhead support 205 via a body harness 209. The
overhead support 205 may be rotated slightly above a maximum
counterclockwise position, lying slightly less than orthogonal to a
medial axis 301. The body harness 209 may be absent significant
tensile forces (e.g., due to lack of experiencing a lifting force).
A spring actuator 217 and a spring actuator rod 219 may be
configured in an extended position, thereby relaxing a spring 213.
The spring 213, being in a relaxed state (or at least a first
stretched state measuring less than a second stretched state), may
provide a minimum or resting downward force (to the force transfer
beam 207) that is insufficient for offloading a significant portion
of the subject 115's weight.
[0160] FIG. 4 is a side view of an exemplary rehabilitation system
100 as would be configured during activation of a BWS system 107.
In at least one embodiment, the BWS system 107, upon activation,
may include a spring 213 configured in a stretched state (or an
activated, stretched state measuring greater than a first stretched
state). In one or more embodiments, a spring actuator 217 and
spring actuator rod 219 may be in a secondary, retracted position
(thereby causing stretch of the spring). In various embodiments, a
force transfer beam 207 and an overhead support 205 may be in a
flexed, loaded state (e.g., due to stretch of the spring generating
additional downward, tensile forces), and may convert a downward
force (from the spring 213) into a lifting force. In at least one
embodiment, the lifting force may be translated to a body harness
209, thereby configuring the body harness 209 into a tensed state
and transferring the lifting force to a subject 115. In at least
one embodiment, a subject 115 configured within the BWS system 107
may experience a partial magnitude of the subject's own weight
(e.g., in proportion to a stretch length of the spring). In one or
more embodiments, because the subject 115 experiences an offloading
of a portion of their weight, the subject 115 may be better capable
of performing locomotive rehabilitation activities.
[0161] In an exemplary, non-offloading scenario, a subject 115 may
be secured to an overhead support 105 via a body harness 209. The
overhead support 205 may be rotated to a maximum counterclockwise
position (e.g., lying slightly less than orthogonal to a medial
axis 301). The body harness 209 may be absent significant tensile
forces (e.g., due to lack of experiencing a lifting force). A
spring actuator 217 and a spring actuator rod 219 may be configured
in an extended position, thereby relaxing a spring 213. The spring
213, being in a relaxed state (or at least a first stretched state
measuring less than a second stretched state), may provide a
minimum or resting downward force (to the force transfer beam 207)
that is insufficient for offloading a significant portion of the
subject 115's weight.
[0162] FIG. 5 is an exploded view of an exemplary seating system
109, according to one embodiment of the present disclosure. In at
least one embodiment, the seating system 109 may include, but is
not limited to, a seat bottom assembly 201, a seat back assembly
203, and one or more pivot plates 513. For example, a seating
system 109 may include two pivot plates 513. In the same example, a
seat back assembly 203 may be securely attached to the two pivot
plates 513, and a seat bottom assembly 201 may be attached to both
the seat back assembly 203 and the two pivot plates 513. In one or
more embodiments, the seat back assembly 203 may include, but is
not limited to, a seat back 507, a seat back plate 509, and a seat
back brace 511. In at least one embodiment, a seating system 109,
and elements included therein, may include one or more materials
including, but not limited to: 1) metal (such as, for example,
stainless steel); 2) polymers (e.g., durable plastics capable of
withstanding stresses and strains generated during actions
described herein); 3) padding materials (e.g., such as, for
example, rubber padding, polymer-based padding, etc.).
[0163] In various embodiments, the seat bottom assembly 201 may
include, but is not limited to: 1) a seat bottom 501 attached to a
seat bottom brace 503; 2) a pivot mechanism 504; and 3) one or more
pivot plate rollers 505. In one or more embodiments, a pivot plate
513 may include, but is not limited to, a pivot track 515, an
actuator clearance hole 517, and an actuator plate receipt 521. In
at least one embodiment, the pivot plate roller 505 may be
positioned within the pivot track 515, and may be configured to
freely translate along the pivot track 515. To continue the above
example, the two pivot plates 513 may each include a pivot track
515. In the same example, the two pivot tracks 515 may receive a
pivot plate roller 505. In at least one embodiment, a pivot plate
roller 505 may include a bearing and/or wheel system that allows
for rotation along a pivot track 515. In one or more embodiments, a
pivot plate 513, and elements thereof, may include one or materials
including, but not limited to: 1) metal (such as, for example,
stainless steel); 2) polymers (e.g., durable plastics capable of
withstanding stresses and strains generated during actions
described herein); 3) padding materials (e.g., such as, for
example, rubber padding, polymer-based padding, etc.).
[0164] In at least one embodiment, the seat back brace 511 may
include a pivot mechanism 504. In various embodiments, the seat
bottom brace 503 may be operatively attached to the pivot mechanism
504 (e.g., via a rod, roller, or the like). In one or more
embodiments, the pivot mechanism 504 may include, but is not
limited to, a rod, roller, hinge, or the like, that permits
rotation of the seat bottom assembly 201 about the pivot mechanism
504.
[0165] In at least one embodiment, horizontal translation of the
seat back assembly 203 may be converted, via the pivot mechanism
504, pivot track 515, and pivot rollers 505, into a rotational
pitch of the seat bottom assembly 201. Accordingly, in various
embodiments, the pivot mechanism 504, pivot track 515, and one or
more pivot rollers 505 may allow the seat bottom assembly 201 to
automatically rotate in proportion to a horizontal translation of
the seat back assembly 203. In one or more embodiments,
simultaneous translation and rotation of the seat back assembly 203
and the seat bottom assembly 201 may be referred to as a
"sit-stand" transition. In various embodiments, a sit-stand
transition may include, but is not limited to: 1) extension (or
retraction) of a sit-stand actuator 523 and one or more actuator
control rods 529; 2) forward (or backward) horizontal translation
of a seat back assembly 203; and 3) clockwise (or counterclockwise)
rotation of the seat bottom assembly 201, in proportion to
horizontal translation of the seat back assembly 203.
[0166] For example, a pivot mechanism 504 may be connected to a
seat bottom brace 503 via a freely rotatable rod. The pivot
mechanism 504 may be attached to and/or integrally formed with a
lower rear portion of the seat back brace 511. The seat back brace
511 may be connected to a sit-stand actuator 523 via four actuator
control rods 529 (or any suitable number thereof), and the
sit-stand actuator 523 may extend and retract, thereby causing
horizontal translations of the seat back assembly 201. The seat
apparatus 109 may be attached to and configured between two
parallel pivot plates 513, and two pivot rollers may be positioned
within a pivot track 515 of each pivot plate 513. Prior to
extension of the sit-stand actuator 523, the two pivot rollers may
be positioned at the top of each pivot track 515. Upon extension of
the sit-stand actuator 523, the four actuator control rods and the
seat back assembly 203 may translate horizontally outward from the
seating system 109. As the seat back assembly 203 translates
horizontally, a rod within the pivot mechanism 504 may also
translate laterally, attempting to horizontally translate the seat
bottom assembly 201. Simultaneously, the pivot rollers 515 may
translate downward along the pivot tracks 515, and the movement of
the pivot rollers 515 may transform the horizontally translating
interaction (occurring at the pivot mechanism 504) into a
rotational interaction. The rotational interaction may cause the
seat bottom assembly 201 to rotate, about the pivot mechanism 504,
by a magnitude proportional to the magnitude of horizontal
translation experienced by the seat back assembly 203. For example,
the seat bottom assembly 201 may rotate 5 degrees clockwise for
every 5 cm of horizontal translation experienced by the seat back
assembly 203 (e.g., in a direction away from the seating system
109). In at least one embodiment, rotation of the seat bottom
assembly 201 and translation of the seat back assembly 203 may
occur at a fixed ratio measuring between about 0:1 and 0:10,
between about 1:1 and 1:10, between about 1:0 and 10:0, between
about 1:1 and 10:1, or on or more other ratios.
[0167] In various embodiments, rotation of the seat bottom assembly
201 about the pivot mechanism 504 may cause the pivot rollers 505
to translate up or down the pivot track 515. For example, the seat
bottom assembly 201 may be oriented at a first angle of -30 degrees
from vertical. In the same example, as the seat bottom assembly 201
rotates clockwise about the pivot mechanism 504 (e.g., towards a
second angle about +90 degrees from vertical) the pivot rollers 505
may translate downwards along two pivot tracks 515 (e.g., arranged
in two pivot plates 513 oriented parallel to each other).
[0168] In at least one embodiment, an actuator clearance hole 517
may receive a portion of a sit-stand actuator 523. In one or more
embodiments, the sit-stand actuator 523 may be attached to an
actuator back plate 525, and the actuator back plate 525 may be
operatively coupled to the actuator plate receipt 521. In various
embodiments, the sit-stand actuator 523 may be operatively coupled
to the seat back brace 511. In one or more embodiments, extension
of the sit-stand actuator 523 may cause horizontal translation of
the seat back assembly 203. In at least one embodiment, the seat
back brace 511 may also be secured to the pivot mechanism 504. In
various embodiments, translation of the seat back assembly 203 may
cause horizontal translation of the pivot mechanism 504. In at
least one embodiment, horizontal translation of the pivot mechanism
504 may cause the seat bottom assembly 201 to rotate about the
pivot mechanism 504, thereby causing the pivot rollers 505 to
translate along the pivot track 515.
[0169] In various embodiments, a seat bottom assembly 201 may
rotate independently of a seat back assembly 203. For example, a
seat bottom assembly 201 may be operatively connected to a seat
bottom assembly actuator that provides a translating force to a
seat bottom brace 503, which is translated into a rotational force
via one or more pivot rollers 505 and one or more pivot tracks 515.
In the same example, the seat bottom assembly 201 may not be
attached to a seat back assembly 203, thereby allowing for
independent motions therebetween. In the same example, because the
seat bottom assembly 201 is connected to its own seat bottom
assembly actuator, the seat bottom assembly 201 may rotate
independently of seat back assembly 203 translation and/or
actuation. In at least one embodiment, rotation of the seat bottom
assembly 201 may be achieved via extension and retraction of a
wedge, or the like, that translates beneath the seat bottom
assembly 201. For example, a wedge may be translated beneath a seat
bottom assembly 201 and may drive the seat bottom assembly 201
upward, and causing the seat bottom assembly 201 to rotate via one
or more pivot rollers 505 and one or more pivot tracks 515.
[0170] In at least one embodiment, the seat back brace 511 may be
connected (e.g., attached) to one or more sit-stand plates 527. In
one or more embodiments, each sit-stand plate 527 may be connected
to one or more control rods 529. For example, each sit-stand plate
527 may be a substantially rectangular plate, and a control rod 529
may be attached to each end of one side of the sit-stand plate 527.
In the same example, a control rod crossbeam 535 may be connected
to and form a connection between the control rods 529. In various
embodiments, one or more control rod wheels 533 may be attached to
a pivot plate 513 in manner such that the wheels 533 are positioned
above and/or below, and are in contact with one or more control
rods 529. In the above example, each control rod 529 may rest atop
two control rod wheels 533 and two additional control wheels 533
may be in contact with a top surface of each control rod 529. In
the same example, the control rod wheels 533 may permit the control
rods 529 to translate horizontally (e.g., in response to retraction
and extension of the actuator 523). In various embodiments,
translation of one or more control rods 529 may cause translation
of the seat back assembly 203, thereby causing rotation of the seat
bottom assembly 201 via the pivot mechanism 504, pivot rollers 505,
and one or more pivot tracks 515.
[0171] FIG. 6 is a side view of an exemplary rehabilitation system
100, which is shown in an exemplary seated configuration. In
various embodiments, the rehabilitation system 100 includes a tower
101 that includes a seating system 109 configured in a seated
configuration. In at least one embodiment, for illustrative and
descriptive purposes only, FIGS. 6-8 may show a tower 101 with a
front column removed to permit better view of components therein.
In one or more embodiments, the seated configuration includes, but
is not limited to: 1) a seat bottom assembly 201 positioned
substantially parallel to a horizontal axis 601; 2) a seat back
assembly 203 extending outward from the tower 101; 3) one or more
actuator control rods 529 extending outward from the tower 101; 4)
a sit-stand actuator 523 in an extended position and projecting
outward from the tower 101; and 5) one or more pivot rollers 505
positioned at a bottom point of a pivot track 515. In at least one
embodiment, in the seated configuration, extension of the sit-stand
actuator 523 causes horizontal translation of the seat back
assembly 203 via connections between a seat back brace 511, the
sit-stand actuator 523, and one or more actuator control rods 529.
In various embodiments, horizontal translation of the seat back
assembly 203 away from the tower 101 generates a translational
force at a pivot mechanism 504. In at least one embodiment, the
translational force is converted, via one or more pivot rollers 505
and one or more pivot tracks 515, into a clockwise rotational
movement of the seat bottom assembly 201 about the pivot mechanism
504. In one or more embodiments, the rotational movement about the
mechanism 504 proceeds continuously as the seat back assembly 203
horizontally translates, and the magnitude of the rotational
movement may be proportional to the magnitude of horizontal
translation. For example, maximum horizontal translation (e.g.,
away from the tower 101) may cause maximum clockwise rotation about
the pivot mechanism 504.
[0172] In one or more embodiments, the one or more control rods 529
may be positioned atop one or more control rod wheels 533 and/or in
between two or more control rod wheels 533. In at least one
embodiment, the one or more rod wheels 533 may reduce a magnitude
of force required to horizontally translate the seat back assembly
203 and rotate the seat bottom assembly 201 (e.g., via a pivot
mechanism 504, pivot tracks 515, and pivot rollers 505). For
example, the one or more rod wheels 533 may reduce a static and a
kinetic coefficient of friction due to formation of a wheel and
track system that supports the seat back assembly 203 and seat
bottom assembly 201, and provides a wheeled mechanism for
translating the seat back assembly 203.
[0173] FIG. 7 is a side view of an exemplary rehabilitation system
100, which is shown in an exemplary transitioning configuration. In
various embodiments, the rehabilitation system 100 includes a tower
101 that includes a seating system 109 arranged in a transitional
configuration as would be experienced during a sit-stand transition
(e.g., between a seated and a standing configuration). In one or
more embodiments, the transitional configuration includes, but is
not limited to: 1) a seat bottom assembly 201 positioned at an
angle acute and/or generally complementary to a horizontal axis 601
(for example, positioned an angle greater than 0 degrees and less
than 120 degrees from the axis 601); 2) a seat back assembly 203
retracting towards the tower 101 from an outwardly extended
position; 3) one or more actuator control rods retracting towards
the tower 101 from an outwardly extended position; 4) a sit-stand
actuator 523 in a retracting position and translating backwards
toward the tower 101; and 5) one or more pivot rollers 505
positioned at a midpoint of a pivot track 515. In at least one
embodiment, in the transitional configuration, retraction of the
sit-stand actuator 523 causes horizontal translation of the seat
back assembly 203 via connections between a seat back brace 511,
the sit-stand actuator 523, and one or more actuator control rods
529. In various embodiments, horizontal translation of the seat
back assembly 203 towards the tower 101 generates a translational
force at a pivot mechanism 504. In at least one embodiment, the
translational force is converted, via one or more pivot rollers 505
and one or more pivot tracks 515, into a counterclockwise
rotational movement of the seat bottom assembly 201 about the pivot
mechanism 504. In one or more embodiments, the rotational movement
about the mechanism 504 proceeds continuously as the seat back
assembly 203 horizontally translates, and the magnitude of the
rotational movement may be proportional to the magnitude of
horizontal translation. For example, partial horizontal translation
(e.g., towards the tower 101) may cause partial counterclockwise
rotation about the pivot mechanism 504. In at least one embodiment,
a ratio between rotation of the seat bottom assembly 201 and a
translation of the seat back assembly 203 may measure about 7.5
degrees of rotation per inch of translation. For example, for a
seat back assembly 203 translation measuring about 16 inches, the
seat bottom assembly 201 may rotate about 120 degrees. In one or
more embodiments, a translation-rotation ratio may be adjustable
via modification and/or replacement of one or more pivot tracks
515, or other system elements described herein.
[0174] FIG. 8 is a side view of an exemplary rehabilitation system
100, which is shown an exemplary standing configuration. In various
embodiments, the rehabilitation system 100 includes a tower 101
that includes a seating system 109 arranged in a standing
configuration as would be achieved via a sit-stand transition
(e.g., following transition from a seated to the standing
configuration). In one or more embodiments, the standing
configuration includes, but is not limited to: 1) a seat bottom
assembly 201 positioned at an angle obtuse to a horizontal axis 601
(for example, positioned an angle about 120 degrees from the axis
601); 2) a seat back assembly 203 fully retracted against the tower
101; 3) one or more actuator control rods 529 fully retracted into
the tower 101 from an outwardly extended position; 4) a sit-stand
actuator 523 in a fully retracted position within the tower 101;
and 5) one or more pivot rollers 505 positioned at a top point of a
pivot track 515. In at least one embodiment, in the standing
configuration, full retraction of the sit-stand actuator 523 causes
full horizontal translation of the seat back assembly 203 against
the tower 101. In various embodiments, full horizontal translation
of the seat back assembly 203 against the tower 101 generates and
maintains a translational force at a pivot mechanism 504 that
causes full counterclockwise rotation of the seat bottom assembly
201. In at least one embodiment, the translational force is
converted, via one or more pivot rollers 505 and one or more pivot
tracks 515, into a counterclockwise rotational movement of the seat
bottom assembly 201 about the pivot mechanism 504. In one or more
embodiments, the counterclockwise rotational movement about the
mechanism 504 proceeds continuously as the seat back assembly 203
horizontally translates. For example, full horizontal translation
(e.g., against the tower 101) may cause full counterclockwise
rotation (e.g., measuring about 120 degrees) about the pivot
mechanism 504.
[0175] FIG. 9 is an exploded view of an exemplary tower 101. In one
or more embodiments, the tower 101 includes a top plate 901 and a
bottom plate 907. In at least one embodiment, one or more rear
columns 903 and one or more front columns 905 may be attached to
and positioned between the top plate 901 and the bottom plate 907.
In at least one embodiment, a rear column 903 and/or a front column
905 may present a quadrilateral cross-section, a circular
cross-section, or one or more other cross-section shapes. In one or
more embodiments, the tower 101 may include a seat height linkage
908 attached to the bottom plate 907 and a seat height actuator 909
(e.g., securing the seat height actuator 909 to the bottom plate
907). In at least one embodiment, the seat height actuator 909
includes a height arm 911 that may be secured to a height plate
913. In various embodiments, the height arm 911 may be received
beneath and be operatively connected to one or more height plate
receipts 915. In one or more embodiments, extension and retraction
of the height arm 911 may cause lift and descent of the height
plate 913. Because the height plate 913 may be attached to the
seating system 109, lift and descent of the height plate 913 may
cause corresponding lift and descent of the seating system 109 and
a BWS system 107. In one or more embodiments, the seat height
actuator may allow the seating system 109 and BWS system 107 to be
positioned vertically at a height between about 1-6 feet. For
example, via the seat height actuator 909, the seating system 109
and BWS system 107 may be positioned at a height between about
1.0-1.5 feet, between about 1.5-2.0 feet, between about 2.0-2.5
feet, between about 2.5-3.0 feet, between about 3.5-4.0 feet,
between about 4.0-4.5 feet, between about 4.5-5.0 feet, between
about 5.0-5.5 feet, or between about 5.5-6.0 feet.
[0176] For example, a seat height actuator 909 and height arm 911
may be initially configured in a fully retracted position. While in
the retracted position, a seating system 109 and BWS system 107 may
be positioned at a first height (for example, 16 inches relative to
a bottom plate 907). Upon activation and extension of the seat
height actuator 909 and the height arm 911, the seating system 109
and BWS system 107 may experience a lifting force at two height
plates 909 connected to the height arm 911. The lifting force may
elevate the seating system 109 and the BWS system 107 to a second
height (for example, 5 feet relative to the bottom plate 907) that
is greater than the first height.
[0177] As another example, a seat height actuator 909 and height
arm 911 may be initially configured in a maximum extended position,
thereby causing a connected seating system 109 and BWS system 107
to be positioned at maximum heights. For example, the seating
system 109 may be positioned at a maximum height of about 60 inches
(e.g., as measured between an underside of the seat bottom brace
503 and a top surface of the bottom plate 907). In the same
example, the BWS system 107 may be positioned at a maximum height
of about 82 inches (e.g., as measured between an underside of the
overhead support 205 and the top surface of the bottom plate 907).
Upon activation and retraction of the seat height actuator 909 and
the height arm 911, the seating system 109 and BWS system 107 may
experience a downward force at two height plates 909 connected to
the height arm 911. The downward force may lower the seating system
109 and the BWs system 107 to a second height (e.g., 16 inches
relative to the bottom plate 907) that is less than the first
height.
[0178] In various embodiments, the seat-height actuator 909 and
height arm 911 may support a full weight of a seating system 109
and BWS system 107, and may also support a full weight of a subject
115 positioned therein. In at least one embodiment, the seat-height
actuator 909 and height arm 911 may support a subject 115 weighing
up to about 300 pounds. For example, the seat-height actuator 909
and height arm 919 may support a subjecting 115 weighing between
about 0-50 pounds, between about 50-100 pounds, between about
75-200 pounds, between about 200-250 pounds, or between about
250-300 pounds.
[0179] In at least one embodiment, the tower 101 may further
include, but is not limited to, a rotation system 917. In various
embodiments, the rotation system 917 may be attached to an
underside surface of the bottom plate 907. In one or more
embodiments, the rotation system 917 may include one or more
bearing subsystems that permit rotation of the bottom plate 907
about the rotation system 917. In one or more embodiments, because
the tower 101 may be attached to the bottom plate 907, and the
bottom plate 907 may rotate via the rotation system 917, the tower
101 may be also be rotated via the rotation system 917. For
example, a tower 101 may be rotated counterclockwise by about 90
degrees from an initial position. In at least one embodiment, an
initial position of the tower 101 may refer to an angular position
wherein the tower 101 is at a rotation of 0 degrees with respect to
a track 105 (FIG. 1).
[0180] In various embodiments, rotation of the tower 101, via the
rotation system 917, may be controlled via a lock-pin system 919.
In at least one embodiment, a base 105 may include one or more
voids for receiving a pin, or the like, that prevents rotation of
the tower 101 via the bottom plate 907 and the rotation system 917.
For example, a lock-pin system 919 may include a spring-loaded pin
mechanism that is automatically engaged when the pin is in
alignment with one or more locking voids included in a base plate
of a base 105. In the same example, one or more locking voids may
be positioned periodically along an arc, thereby providing
incremental rotational positions to which the tower 101 may be
rotated. The tower 101 may be rotated to any of the incremental
positions by withdrawing the spring-loaded pin mechanism (e.g.,
thereby disengaging the lock-pin system 919) and rotating the tower
until the lock-pin system 919 is aligned with a particular locking
void. Upon the lock-pin system 919 being aligned with the
particular locking void, the spring-loaded pin mechanism may be
released and may project downward into the locking void, thereby
securing the new rotational orientation of the tower 101.
[0181] In one or more embodiments, rotation of the tower 101 may be
controlled and/or facilitated electronically. For example, rotation
may be controlled via a motor system operative to rotate the tower
101 upon receiving commands or inputs (e.g., from a control panel,
via GUI selections, etc.). In various embodiments, a rotation
system 907 and/or lock-pin system 919 may include components for
engaging and disengaging locks and/or for facilitating rotation,
and may include components for receiving inputs that cause
engagement/disengagement of locks and/or facilitation of
rotation.
[0182] In at least one embodiment, a tower 101, and elements
included therein, may include one or more materials including, but
not limited to: 1) one or more metals (e.g., such as, for example,
stainless steel); 2) one or more polymers (e.g., such as, for
example, durable polymers capable of withstanding stresses and
strains generated during one or more operations described herein);
and 3) padding materials (e.g., such as, for example, rubber, soft
polymers, and other soft materials).
[0183] FIG. 10 is a side view of an exemplary rehabilitation system
100. In various embodiments, in FIG. 10, the rehabilitation system
100 is shown in a configuration prior to rotation of a tower 101.
In one or more embodiments, the tower 101 may be attached atop a
bottom plate 907, and the bottom plate 907 may be attached to a
rotation system 917. In at least one embodiment, the rotation
system 917 may be positioned between the bottom plate 907 and a
base 105. In various embodiments, the tower 101 may be shown, in
FIG. 10, in an initial angular position, being positioned at 0
degrees with respect to the base 105. In at least one embodiment,
rotation of the tower 101 may be controlled via a lock-pin system
919.
[0184] FIG. 11 is a side view of an exemplary rehabilitation system
100. For illustrative and descriptive purposes, in FIG. 11, one or
more portions of the rehabilitation system 100 may be excluded to
allow for presentation and discussion of various internal system
elements provided herein. In various embodiments, in FIG. 11, the
rehabilitation system 100 is shown in a configuration following
rotation of a tower 101. In one or more embodiments, the tower 101
may be attached atop a bottom plate 907, and the bottom plate 907
may be attached to a rotation system 917. In at least one
embodiment, the rotation system 917 may be positioned between the
bottom plate 907 and a base 105. In various embodiments, the tower
101 may be shown, in FIG. 11, in a rotated angular position, being
positioned at a rotation of about 90 degrees with respect to the
base 105. In at least one embodiment, rotation of the tower 101 may
be controlled via a lock-pin system 919 that includes a
spring-loaded pin mechanism. In one or more embodiments, the
rotated angular position of the tower 101 may be secured via
receipt of a spring-loaded pin within a locking void included in a
base plate of the base.
[0185] For example, to rotate the tower 101, a lock pin mechanism
may be withdrawn from a first locking void. Upon withdrawal of the
lock pin mechanism, the lock-pin system 919 may be disengaged, and
the tower 101 may rotate freely via a rotation system 917. After
rotating the tower 101 (e.g., by about 90 degrees in a
counterclockwise direction), the lock pin mechanism may
automatically deploy into a second locking void positioned along an
arc about 90 degrees counterclockwise from the first locking void.
Deployment of the lock pin mechanism may engage the lock-pin system
919 and secure the new rotated angular position of the tower
101.
[0186] FIG. 12 is an exploded view of an exemplary sled 103,
according to one embodiment of the present disclosure. In one or
more embodiments, the sled 103 may include a linkage system 111. In
at least one embodiment, the linkage system 111 may provide a
walking motion that synchronizes a striding leg motion with a
translating hand motion, thereby providing a substantially
physiologically accurate gait cycle. In various embodiments, the
linkage system 111 may include, but is not limited to, a driving
link 1201, an outer footplate link 1203, an inner footplate link
1205, a curved link 1207, a first connecting link 1209, a handle
link 1211, and a second connecting link 1213. In at least one
embodiment, the linkage system 111 is operatively connected to and
synchronously coordinates movement of a footplate 1204 and a handle
1202. In one or more embodiments, a linkage system 111, and
elements included therein, may include materials including, but not
limited to: 1) metal (e.g., such as, for example, stainless steel);
and 2) plastics (e.g., polymers suitable for mechanical operations
and capable of withstanding stresses and strains generated
therefrom). In one or more embodiments, one or more links described
herein may present a substantially quadrilateral cross-section
(e.g., such as a rectangular cross-section), or may present
circular cross-sections, triangular cross-sections, or one or more
other cross-section shapes.
[0187] In at least one embodiment, the driving link 1201 may be
connected to a sled plate 1206 in a manner such that the driving
link 1201 may rotate about the connection point. For example, the
driving link 1201 may be connected to a driving link mechanism 1215
that secures the driving link 1201 within the sled plate 1206, but
also allows for rotation of the driving link 1201. In one or more
embodiments, the footplate 1204 may be connected to the outer
footplate link 1203 and the inner footplate link 1205. In at least
one embodiment, a driving linkage 1233 may operatively connect the
outer footplate link 1203 to the driving link 1201 in a manner such
that rotation of the driving link 1201 causes retraction and
extension of the outer footplate link 1203 (e.g., with respect to
the footplate 1204).
[0188] In an exemplary scenario, the driving link 1201 may rotate
clockwise between 0-360 degrees about a central axis. At 0 degrees,
an outer footplate link 1203 (connected to the driving link 1201
via a driving linkage 1233) may be positioned at initial stride
position, a footplate 1204 connected to the outer footplate link
1203 may be in a mid-stance phase, and a handle 1202 may be
positioned at a mid-stance phase. As the driving link 1201 rotates
from 0 degrees, a driving linkage 1233 may draw the outer footplate
link 1203 forwards, translating the outer footplate link 1203
towards the sled 103. The translation of the outer link 1203 may
cause translation of the footplate 1204, drawing the footplate 1204
through a terminal stance phase and a toe-off phase. The
translation of the outer link 1205, may cause the handle 1202 to
partially trace an arc, thereby drawing the handle 1202 through a
terminal stance phase and a toe-off phase. Once the driving link
1201 is rotated about 180 degrees, the outer footplate link 1203
may be at a maximum forward translation point. As the outer
footplate link 1203 approaches the maximum forward translation
point, the connected footplate 1204 and the handle 1202 (continuing
to trace the arc) may experience an initial contact phase and, upon
reaching 180 degrees of rotation, a loading response phase. As the
driving link 1201 continues to rotate, the driving linkage 1233 may
cause the outer footplate link 1203 to translate backwards, away
from the sled 103, and the footplate 1204 and the handle 1202
(e.g., now tracing the arc in an opposite direction) may be drawn
into a subsequent mid-stance phase. Accordingly, in one or more
embodiments, a complete rotation of the driving link 1201 may
correspond to a complete gait cycle.
[0189] In various embodiments, the inner footplate link 1205 may be
operatively connected to the curved link 1207, and the curved link
1207 may be operatively connected to a gear system 1210, thereby
securing the curved link 1207 to the sled plate 1206, but still
allowing for rotations about the connection. In one or more
embodiments, the curved link 1207 may be generally sickle-shaped.
For example, the curved link 1207 may include a substantially
straight first section and a substantially curved second section. A
terminal point of the curved second section may be angled between
about 15-85 degrees from a terminal point of the straight first
section. In various embodiments, a curved link 1207 may demonstrate
a radius of curvature measuring between about 15-20 inches. For
example, a curved link 1207 may demonstrate a radius of curvature
measuring about 16 inches. In at least one embodiment, curvature of
the curved link 1207 may reduce a spatial profile of the curved
link 1207, and may allow for an increased density of components
within the linkage system 111, thereby advantageously minimizing
size of the sled 103.
[0190] In various embodiments, as the driving link 1201 rotates and
the footplate 1204 and outer footplate link 1203 translate, the
inner footplate link 1205 may also translate. In at least one
embodiment, translation of the inner footplate link 1205 may cause
a partial rotation of the curved link 1207 about the connection
between the curved link 1207 and the gear system 1210.
[0191] Referring to the above exemplary scenario, as the driving
link 1201 rotates from about 0 to 180 degrees, the inner footplate
link 1205 may translate forward from an initial translation
position and cause a partial rotation (e.g., in a counterclockwise
direction) of the curved link 1207 from an initial rotational
position. Upon the driving link 1201 reaching about 180 degrees of
rotation, the inner footplate link 1205 may be at a maximum forward
translation point and the curved link 1207 may be at a maximum
clockwise rotation point. As the driving link 1201 proceeds from
about 180 to 360 degrees of rotation, the inner footplate link 1205
may be translated backwards, away from the sled 1203, and the
curved link 1207 may rotate clockwise. Upon the driving link 1201
reaching about 360 degrees of rotation, the inner footplate link
1205 may translate back to the initial translation position, and
the curved link 1207 may rotate clockwise back to the initial
rotational position. Accordingly, in various embodiments, the
curved link 1207 may rotate in a periodic motion. For example,
during a full rotation of the driving link 1201, the curved link
1207 may rotate forward from an initial position by about 45-135
degrees (e.g., during a first half of the full rotation) and return
to the initial position (e.g., during a second half of the full
rotation). In one or more embodiments, periodic rotation of the
curved link 1207 may synchronize movement of the footplate 1204
with movement of the handle 1202.
[0192] In at least one embodiment, the gear system 1210 may be
operatively connected to the first connecting link 1209. In various
embodiments, the first connecting link 1209 and the second
connecting link 1213 may be connected to the sled plate 1206 in a
manner that allows for rotation about the connection. In one or
more embodiments, translation of the outer footplate link 1203 may
cause a corresponding translation of the inner footplate link 1205.
In at least one embodiment, translation of the inner footplate link
1205 may cause rotation of the curved link 1207, and, transitively,
rotation of the gear system 1210. In various embodiments, rotation
of the gear system 1210 may cause rotation of the first connecting
link 1209 (e.g., in a direction opposite the rotation of the curved
link 1207). For example, as the curved link 1207 rotates clockwise,
the gear system 1210 may cause the first connecting link 1209 to
rotate counterclockwise, and as the curved link 1207 transitions to
a counterclockwise rotation, the gear system 1210 may cause the
first connecting link 1209 to rotate clockwise.
[0193] In at least one embodiment, the first connecting link 1209
may be operatively connected to the handle link 1211, and rotation
of the first connecting link 1209 may cause translation of the
handle link 1211. In one or more embodiments, the handle link 1211
may be operatively connected the second connecting link 1213. In at
least one embodiment, the handle link 1211 may be connected to the
first connecting link 1209 and the second connecting link 1213 in a
manner that allows for rotation about one or more connection
points.
[0194] In various embodiments, the handle link 1211 may be
connected to a handle 1202 via a handle linkage 1214. In one or
more embodiments, the handle link 1211 may include a generally "V"
shape that includes a first section and a second section that are
oriented at an acute angle. For example, an angle between the first
section and the second section may measure about 60 degrees. In at
least one embodiment, the first section may be oriented parallel to
a track 105 (FIG. 1). In at least one embodiment, the first
connecting link 1209 may be connected at the first section, and the
second connecting link 1213 and the handle 1202 may be connected at
the second section. In one or more embodiments, the acute angle of
the handle link 1211 may advantageously increase component density
of the sled 103, thereby advantageously reducing a spatial profile
of the sled 103.
[0195] In various embodiments, the first connecting link 1209 and
the second connecting link 1213 may be positioned, on the sled
plate 1206, substantially parallel to and level with each other. In
various embodiments, the above described positioning and the
rotating connections between the handle link 1211 and the first
connecting link 1209 and second connecting link 1213 may allow the
handle link 1211 to translate in a substantially arcuate manner as
the first connecting link 1209 and second connecting link 1213
rotate about their connections to the sled plate 1206. In at least
one embodiment, the first connecting link 1209 may be operative to
rotate about a medial point between the first connecting link 1209
and a sled plate 1206, which may engage a gear system 1210 and/or
otherwise cause rotation of a handle link 1211. In one or more
embodiments, the second connecting link 1213 may be operative to
rotate about fixed rear point between the first connecting link
1213 and a sled plate 1206. In at least one embodiment, a curved
link 1207 may be operative to rotate about a forward fixed point
point between the curved link 1207 and/or a sled plate 1206 or a
gear system 1210. In one or more embodiments, a curved link 1207
may be operatively connected to a sled plate 1206 at the forward
fixed point in a manner that allows rotation of the curved link
1207 about the forward fixed point and rotate a gear system
1210.
[0196] For example, rotation at the gear system 1210 may cause the
first connecting link 1209 to rotate. The rotation of the first
connecting link 1209 may generate a rotational force at the
connection between the connecting link 1209 and the handle link
1211. The connection between the handle link 1211 and the second
connecting link 1213 may convert the rotational force into a
substantially arcuate translation of the handle link 1211. As the
first connecting link 1209 and second connecting link 1213 rotate
in a parallel and counterclockwise manner, the handle link 1211 may
be translated towards the footplate 1204. In various embodiments,
translation of the handle link 1211 may cause reverse translation
of the handle 1202 in an identical direction. In various
embodiments, because rotation of the first connecting link 1209 may
be periodic and occur in a clockwise and counterclockwise manner,
the handle link 1211 may also translate in a periodic fashion,
thereby causing periodic translation of the handle 1202 that mimics
translation of an upper extremity throughout a gait cycle.
[0197] In at least one embodiment, rotation of the driving link
1201 may be caused via a motor unit 1217. In one or more
embodiments, the motor unit 1217 may be operatively connected to a
transmission 1219. The transmission 1219 may include an output
connected to a first belt 1221 operatively connected to a clutch
1223.
[0198] In various embodiments, the clutch 1223 may be a magnetic
particle clutch that uses a magnetically susceptible material to
mechanically link an input and an input. In various embodiments,
the clutch 1223 can receive an input rotational force at an input
and transfer the input rotational force to an output rotational
force received at an output. For example, a magnetic particle
clutch 1223 may transmit torque mechanically via a powder of iron
fillings disposed therein. Torque may be controlled by applying a
magnetic field to the powder, which may cause formations of
magnetically linked iron filing chains that decrease slip between
an input and output of the clutch 1223. Accordingly, the clutch
1223 may be controlled via manipulation of a supply voltage or
supply current that is used to generate the magnetic field. For
example, the portion of magnetized particles may be configured via
application of a magnetic field generated by a particular voltage,
and the configuration of the magnetized particles may generate
greater resistance to efficiency of force transmission as voltage
is increased (e.g., and the magnetic field strengthens).
[0199] In at least one embodiment, the linkage system 111 may
operate in a powered state in which the motor unit 1217 provides
partial locomotive assistance via the clutch 1223 and a system of
belts and linkages described herein. In another embodiment, the
linkage system 111 may operate in a non-powered state in which the
motor unit 1217 does not provide locomotive assistance. In various
embodiments, locomotive assistance provided by the motor unit 1217
may be configured via one or more controllers that control a power
the motor unit 1217 and/or control the clutch 1223. In at least one
embodiment, the clutch 1223 may be configured to generate
resistance to locomotive operation of the linkage system 111. For
example, a magnetic particle clutch 1223 may be engaged (without
engaging a motor unit 1217) and magnetized particles therein may
generate resistance that opposes rotation of a driving link 1201
connected to an output of the clutch 1223 (as described herein).
Because the strength of the clutch 1223 may be configured via
control of electricity supplied thereto, the resistance supplied by
the clutch 1223 may be metered via one or more electronic
controllers.
[0200] In at least one embodiment, an output of the clutch 1223 may
be operatively connected to a second belt 1225, and the second belt
1225 may be operatively connected to a driving link gear 1227. In
one or more embodiments, the driving link gear 1227 may be
operatively connected to a driving link mechanism 1215 that is
operatively connected to and causes rotation of the driving link
1201. Accordingly, rotation at the motor unit 1217 may cause
rotation of the driving link 1201, and rotation of the driving link
1201 may cause operation of the linkage system 111.
[0201] For example, a motor unit 1217 may generate a rotational
force. A transmission 1219 may receive and transmit the rotational
force, thereby rotating a first belt 1221. Rotation of the first
belt 1221 may generate a rotational force at an input of a magnetic
particle clutch 1223. The magnetic particle clutch 1223 may
translate the rotational force to a second rotational force
received at and causing rotation of an output (efficiency of
rotational translation being determined by a strength of a magnetic
field experienced by a portion of magnetized particles within the
clutch 1223). Rotation at the output of the magnetic particle
clutch 1223 may cause rotation of a second belt 1225. Rotation of
the second belt 1225 may cause rotation of a driving link gear 1227
and a driving link mechanism 1215. Rotation of the driving link
mechanism 1215 may cause rotation of the driving link 1215.
[0202] In the same example, rotation of the driving link mechanism
1215 (e.g., in a counter-clockwise direction) may cause translation
of an outer footplate link 1203 towards a distal end of the sled
103. Translation of the outer footplate link 1203 can cause
corresponding translations of a footplate 1204 and an inner
footplate link 1205 towards the distal end of the sled 103.
Translation of the inner footplate link 1205 may cause rotation of
a curved link 1207 (e.g., in a clockwise direction), and rotation
of the curved link 1207 may cause rotation of a first connecting
gear (e.g., in a clockwise direction) and rotation of a second
connecting gear (e.g., in a counter-clockwise direction). Rotation
of the second connecting gear may cause rotation of a first
connecting link 1209 (e.g., in a counter-clockwise direction), and
rotation of the first connecting link 1209 may cause translation of
a handle link 1211 towards a proximal end of the sled 103 (e.g.,
towards a subject 115). Because the handle link 1211 may be
attached, via a handle linkage 1214, to a handle 1202, translation
of the handle link 1211 may cause a corresponding translation of
the handle 1202 (e.g., towards the proximal end of the sled 103).
Translation of the handle link 1211 may be partially supported and
facilitated via a second connecting link 1213 that rotates as a
result of the handle link 1211 translation.
[0203] In at least one embodiment, the above described scenario may
occur as a result of a partial rotation of the driving link 1201.
In various embodiments, as the driving link 1201 proceeds through
360 degrees of rotation, the linkage system 111 may complete one
full gait cycle. Accordingly, a partial rotation (e.g., such as 180
degrees) of the driving link 1201 may correspond to and cause a
gait motion that is a subset of the gait cycle. In various
embodiments, gait motions may include, but are not limited to, an
advancing movement and a retreating movement. In at least one
embodiment, an advancing movement may correspond to a rotation of
the driving link 1201 measuring about 180 degrees, and a retreating
movement may correspond to an additional rotation measuring about
180 degrees.
[0204] In at least one embodiment, the driving link 1201 may rotate
a driving linkage 1233 about a particular radius of rotation, and
the particular radius of rotation may determine a stride length. As
described herein, a stride length refers to a distance traveled by
a footplate 1204 after an advancing movement and prior to
initialization of a retreating movement. In one or more
embodiments, the radius of rotation (e.g., and, thus, stride
length) may be increased and/or decreased via a stride length
actuator 1229 that translates the driving linkage 1233 along a
stride length track 1231. For example, retraction of the stride
length actuator 1229 may cause a connected driving linkage 1229 to
translate towards a center of rotation (e.g., towards the driving
link mechanism 1215). Because the driving linkage 1229 has moved
closer to the center of rotation, the radius of rotation (of a
connected outer footplate link 1203) may correspondingly decrease
and the stride length provided via the linkage system 111 may
decrease. In at least one embodiment, the stride length may
decrease, because an outer footplate link 1203, footplate 1204, and
inner footplate link 1205 may translate by a lesser magnitude due
to the decreased radius of rotation. In at least one embodiment, a
ratio between radius of rotation of an outer footplate link 1203
and translation of a footplate 1204 may measure about 1 inch of
rotation per 1.96 inches of translation. In other words, a ratio
between radius of rotation and stride length may measure about
1:1.96. For example, an outer footplate link 1203 may demonstrate a
radius of rotation of about 18.0 inches. Accordingly, a connected
footplate 1204 may demonstrate a stride length of about 35.28
inches.
[0205] In one or more embodiments, a sled 103 may include two
linkage systems 111 oriented parallel to each other, and each
linkage system 111 may be attached to a sled plate 106. In various
embodiments, a set of components may be disposed between the sled
plates 106 and may be connected to both linkage systems 111. In at
least one of embodiments, the set of components may be oriented
outside of a sled plate 106. For example, the set of components may
be oriented proximate to a sled plate 106, on an exterior side
thereof. In one or more embodiments, the set of components may
include, but is not limited to, a motor unit 1217, a transmission
1219, gear system 1210, first belt 1221, second belt 1225, and a
driving link gear 1227. In at least one embodiment, the two linkage
systems 111 may be rotationally offset from each other in a manner
such that a movement of a handle 1202 and a footplate 1204 of a
first linkage system 111 may be matched by a reciprocal movement of
a handle 1202 and a footplate 1204 of a second linkage system 111.
For example, a forward translation of a first handle 1202 and first
footplate 1204 may be simultaneously accompanies by a reverse
translation of a second handle 1202 and second footplate 1204. In
various embodiments, offset and reciprocal movement of the first
and second linkage systems 111 may provide a full bipedal gait
cycle.
[0206] FIG. 13 is a side view of an exemplary sled 103. For
illustrative and descriptive purposes, in FIG. 13, one or more
portions of the sled 103 may be excluded to allow for presentation
and discussion of various internal system elements provided herein.
In at least one embodiment, the exemplary sled 103 may include two
linkage systems 111. In describing FIGS. 13-15, for illustrative
and descriptive purposes, reference will be made to a single
linkage system 111; however, it understood that an exemplary sled
103 may include an additional linkage system 111 in which
locomotive operation therein occurs in a reciprocal manner to
locomotive operations of the single linkage system 111 described
herein.
[0207] In various embodiments the linkage system 111 may include a
driving link 1201 connected to an outer footplate link 1203. In at
least one embodiment, the outer footplate link 1203 may be
connected to a footplate 1204 and an inner footplate link 1205. In
one or more embodiments, the inner footplate link 1205 may be
connected to a curved link 1207, and the curved link 1207 may be
connected to a gear system 1210. In various embodiments, the gear
system 1210 may be connected to a first connecting link 1209
connected to a handle link 1211. In at least one embodiment, the
handle link 1211 may be connected to a second connecting link 1213,
and may also be connected to a handle 1202.
[0208] In an exemplary scenario, as shown in FIG. 13, the linkage
system 111 may be oriented at an initial position in which the
driving link 1201 is oriented at a first angular position (e.g., 0
degrees of rotation). The footplate 1204, outer footplate link
1203, and inner footplate link 1205 may be located at a footplate
maximum reverse translation point, and a curved link 1207 may be
located at a curved link maximum counterclockwise rotation point.
The first connecting link 1209 and second connecting link 1213 may
be located at a connecting link maximum clockwise rotation point.
The handle link 1211 may be located at a handle link maximum
translation point, and the handle 1202 may be located at a handle
maximum reverse translation point. In the exemplary scenario, FIG.
13 may show the handle 1202 and footplate 1204 positioned at a
loading response and/or mid-stance phase (as described herein).
[0209] FIG. 14 is a side view of an exemplary sled 103 that
includes a linkage system 111. For illustrative and descriptive
purposes, in FIG. 14, one or more portions of the sled 103 may be
excluded to allow for presentation and discussion of various
internal system elements provided herein. In at least one
embodiment, FIG. 14 may show the exemplary sled 103 and linkage
system 111 of FIG. 13, oriented at a subsequent point in a gait
cycle shown in FIGS. 13-15. In various embodiments the linkage
system 111 may include a driving link 1201 connected to an outer
footplate link 1203. In at least one embodiment, the outer
footplate link 1203 may be connected to a footplate 1204 and an
inner footplate link 1205. In one or more embodiments, the inner
footplate link 1205 may be connected to a curved link 1207, and the
curved link 1207 may be connected to a gear system 1210. In various
embodiments, the gear system 1210 may be connected to a first
connecting link 1209 connected to a handle link 1211. In at least
one embodiment, the handle link 1211 may be connected to a second
connecting link 1213, and may also be connected to a handle
1202.
[0210] In an exemplary scenario, as shown in FIG. 14, the linkage
system 111 may be oriented at a second angular position in which
the driving link 1201 is rotated counterclockwise (e.g., by about
90 degrees) from the initial position shown in FIG. 13. The
footplate 1204, outer footplate link 1203, and inner footplate link
1205 may be translated forward from the footplate maximum reverse
translation point, and the curved link 1207 may be rotated
clockwise from the curved link maximum counterclockwise rotation
point. The first connecting link 1209 and second connecting link
1213 may be rotated counterclockwise from the connecting link
maximum clockwise rotation point. The handle link 1211 may be
translated backwards, in an arcuate manner, from the handle link
maximum translation point, and the handle 1202 may be translated
backwards, in an arcuate manner, from the handle maximum reverse
translation point. In the exemplary scenario, FIG. 14 may show the
handle 1202 and footplate 1204 positioned at a swing phase (as
described herein).
[0211] FIG. 15 is a side view of an exemplary sled 103 that
includes a linkage system 111. For illustrative and descriptive
purposes, in FIG. 15, one or more portions of the sled 103 may be
excluded to allow for presentation and discussion of various
internal system elements provided herein. In at least one
embodiment, FIG. 15 may show the exemplary sled 103 and linkage
system 111 of FIGS. 14, oriented at a subsequent point in a gait
cycle shown in FIGS. 13-15. In various embodiments, the linkage
system 111 may include a driving link 1201 connected to an outer
footplate link 1203. In at least one embodiment, the outer
footplate link 1203 may be connected to a footplate 1204 and an
inner footplate link 1205. In one or more embodiments, the inner
footplate link 1205 may be connected to a curved link 1207, and the
curved link 1207 may be connected to a gear system 1210. In various
embodiments, the gear system 1210 may be connected to a first
connecting link 1209 connected to a handle link 1211. In at least
one embodiment, the handle link 1211 may be connected to a second
connecting link 1213, and may also be connected to a handle
1202.
[0212] In an exemplary scenario, as shown in FIG. 15, the linkage
system 111 may be oriented at a third angular position in which the
driving link 1201 is rotated counterclockwise (e.g., by about 90
degrees) from the second angular position shown in FIG. 14. The
footplate 1204, outer footplate link 1203, and inner footplate link
1205 may have reached a footplate maximum translation point, and
may be subsequently reverse-translated back towards the footplate
maximum reverse translation point. The curved link 1207 may have
reached a curved link maximum clockwise rotation point, and may be
subsequently rotated counterclockwise back towards the curved link
maximum counterclockwise rotation point. The first connecting link
1209 and second connecting link 1213 may have reached a connecting
link maximum clockwise rotation point, and may be subsequently
rotated counterclockwise back towards the connecting link maximum
counterclockwise rotation point. The handle link 1211 may be have
reached a handle link maximum reverse translation point (e.g., an
end of a traced arc), and may be subsequently translated forwards,
in an arcuate manner) towards the handle link maximum translation
point (e.g., towards an opposite end of a traced arc). The handle
1202 may have reached a handle maximum translation point, and may
be subsequently reverse-translated back towards the handle maximum
reverse translation point. In the exemplary scenario, FIG. 15 may
show the handle 1202 and footplate 1204 positioned after an initial
contact phase and at a loading response phase (as described
herein).
[0213] As will be understood by one having ordinary skill in the
art, the steps and processes shown in FIG. 16 (and those of all
other flowcharts and sequence diagrams shown and described herein)
may operate concurrently and continuously, are generally
asynchronous and independent, and are not necessarily performed in
the order shown.
[0214] FIG. 16 is a flowchart showing an exemplary training process
1600, according to one embodiment of the present disclosure. At
step 1602, the training process 1600 includes receiving an
initialization command. An initialization command may be received
from an input device, from an electronic device, or may be
generated automatically (e.g., in response to recordings from one
or more sensors). As an example, the system may receive a "Start
Training" selection from a subject, via an input device. As another
example, the system may receive an initialization command from a
subject's and/or a trainer's smartphone. In another example, the
system may include one or more proximity sensors that detect when a
subject approaches or positions and/or positions themselves within
the system. The one or more proximity sensors may detect a
subject's approach and, in response to the detection, cause the
system to generate and/or retrieve an initialization command.
[0215] In various embodiments, an initialization command may
include, but is not limited to: 1) configuration information,
including whether a subject wishes to train in a standing or a
seated configuration; 2) configuration parameters, including but
not limited to: A) one or more seat tilt parameters; B) one or more
seat height parameters; C) one or more stride lengths; and D) one
or more additional parameters (e.g., for example, gait width); 3)
session mode information, including, but not limited to: A) whether
a subject wishes to train in a manual or powered session; B) one or
more resistance levels; C) one or more session resistance
schedules; D) one or more assistance levels; and E) one or more
session assistance schedules; 4) body weight support (BWS)
information including, but not limited to: A) one or more offset
percentage; and B) one or more session offset schedules (as
described herein); 5) session information, including a session
duration parameter; and 6) a subject identifier (as described
herein).
[0216] At step 1602, the training process 1600 may include
processing the received initialization command to parse and extract
information therein.
[0217] At step 1604, the training process 1600 includes determining
a configuration mode. In at least one embodiment, a configuration
mode may be specified in configuration information include in the
initialization command received at step 1602. For example, the
initialization command may include a seated vs. standing threshold,
and the initialization command may include the seated vs. standing
threshold configured to specify a sitting configuration mode. In
one or more embodiments, the system may determine a configuration
mode by processing a configuration selection (e.g., received via an
input device, a network communication, an electronic device, etc.).
For example, the system may include a "Seated" button and a
"Standing" button (each located on an input device). The system may
receive and process a subject's selection of the "Seated" button
and, thereby, determine a seated configuration mode.
[0218] Following determination of the configuration mode, the
training process 1600 includes performing a sit-stand configuration
process 1700 (FIG. 17).
[0219] Following performance of the sit-stand configuration process
1700, the training process 1600 includes performing a safety
analysis process 1800 (FIG. 18).
[0220] At step 1606, the training process 1600 includes
determining, based on the safety analysis process 1800, if one or
more safety thresholds are satisfied. In at least one embodiment,
the one or more safety thresholds may include, but are not limited
to: 1) a safety contactor threshold; 2) a seat pivot threshold; 3)
a harness safety threshold; 4) a BWS threshold; and 5) one or more
additional thresholds. In one or more embodiments, if the system
determines that each of the one or more safety thresholds is
satisfied, the system proceeds to step 1608. In various
embodiments, if the system determines that any of the one or more
safety thresholds is not satisfied, the training process 1600 is
suspended.
[0221] In at least one embodiment, if the system determines that
any of the one or more safety thresholds are not satisfied, the
system may take one or more supplementary actions. The one or more
supplementary actions may include, but are not limited to: 1)
generating and transmitting an alert including one or more safety
thresholds determined to be unsatisfied; 2) emitting an alarm; 3)
updating a user interface with a notification including the one or
more unsatisfied safety thresholds and/or instructions for
inspecting one or more safety sensors.
[0222] At step 1608, the training process 1600 includes determining
a training mode. In at least one embodiment, a training mode may
include, but is not limited to, a manual mode or a powered mode.
The system may determine the training mode by receiving a training
mode selection, and/or by processing session mode information
included in a received initialization command. For example, the
system may process session mode information and determine that the
session information includes a "Manual" training mode selection. As
another example, the system may include a "Manual" button and a
"Powered" button (each located on an input device). The system may
receive and process a subject's selection of the "Powered" button
and, thereby, determine a powered training mode. In at least one
embodiment, if the system determines a manual training mode, the
system executes a manual training process 1900. In one or more
embodiments, if the system determines a powered training mode, the
system executes a powered process 2000.
[0223] At step 1610, following execution of a manual training
process 1900 and/or a powered process 2000, the system determines
if a subject wishes to continue training. In at least one
embodiment, if the system determines that a subject wishes to
continue training, the system returns to step 1602, thereby
restarting the training process 1600. In one or more embodiments,
if the system determines that a subject does not wish to continue
training, the system suspends the training process 1600. For
example, the system may include a "Continue Training" button and a
"Do Not Continue Training" button (e.g., each included on an
operatively connected input device). The system may receive and
process a subject's selection of the "Continue Training" button and
may return to step 1602 (e.g., to receive and process a subsequent
initialization command).
[0224] FIG. 17 is a flowchart showing an exemplary configuration
process 1700, according to one embodiment of the present
disclosure. At step 1702, the configuration process 1700 includes
receiving a configuration command. In at least one embodiment, a
configuration command may include, but is not limited to,
configuration information and/or one or more configuration
parameters included in a received initialization command. In one or
more embodiments, a configuration command may be generated, by the
system, using processed configuration information and/or
configuration parameters. In various embodiments, a configuration
command may specify whether a subject wishes to perform training in
a seated mode or a standing mode.
[0225] At step 1704, the configuration process 1700 includes
determining whether or not to utilize stored parameters while
executing subsequent process steps. In at least one embodiment, the
system may formulate a determination by receiving a selection from
an input device. For example, the system may include a "Use Stored
Settings" button and a "Configure Manually" button. The system may
receive and process a subject's selection of the "Use Stored
Settings" button and determine that the subject wishes to utilize
stored parameters while the system performs subsequent steps of the
configuration process 1700. Alternatively, the system may receive
and process a subject's selection of the "Configure Manually"
button and determine that the subject does not wish to utilize
stored parameters. In one or more embodiments, if the system
determines that stored parameters are to be used, the system
proceeds to step 1706. In various embodiments, if the system
determines that stored parameters are to be used, the system may
automatically load and/or configure stored parameters, a subject
identifier, one or more stored session programs, connected
accounts, sensor configurations, and other stored information. In
at least one embodiment, if the system determines that stored
parameters are not to be utilized, the system proceeds to step
1708.
[0226] At step 1706, the system retrieves and processes seating
configuration parameters. In at least one embodiment, the seating
configuration parameters may be retrieved from one or more
databases and/or other computer memory. In at least one embodiment,
the configuration command received at step 1702 may include a
subject identifier that is associated, in a database, or the like,
with a set of seating configuration parameters. For example, a
subject identifier may be parsed from a received configuration
command, and the subject identifier may be used to index a database
and retrieve seating configuration parameters associated with the
subject identifier.
[0227] At step 1708, the system receives and processes one or more
configuration inputs. Exemplary configuration inputs may include,
but are not limited to, seating configuration mode, seat height,
seat rotation, and seat translation. In one or more embodiments,
the one or more configuration inputs may be received via one or
more input devices connected to the system. For example, the system
may include a display and one or more buttons, and, at step 1708,
the system may render a graphical user interface (GUI). The system
may receive, via the GUI the one or more buttons, configuration
inputs for various configuration parameters. The configuration
parameters can include, but are not limited to, seat height, BWS
offset, and stride length. In one or more embodiments, the system
may process received configuration inputs to generate and record
the one or more configuration parameters. In at least one
embodiment, the system may provide the one or more configuration
parameters to a configuration controller (for example, a computing
environment) that translates the one or more configuration
parameters into electronic commands that may be sent to one or more
system components (e.g., actuators, etc.) to produce a desired
configuration.
[0228] At step 1710, the system determines, based on processed
configuration parameters (obtained at either step 1706 or 1708),
whether to adjust a seat height. In one or more embodiments, a
height adjustment may be performed to accommodate a subject's
dimensions and/or anatomy. In at least one embodiment, the system
may be configured for subjects measuring between about 4.5 feet-6.5
feet in height. In various embodiments, the system may determine if
the processed configuration parameters include a seat height
parameter. In at least one embodiment, the system may make a
determination based on selection of a seat height parameter field
on a rendered GUI display. For example, if the system receives any
input in a seat height parameter field, the system may determine
that a seat height adjustment is to be performed. In various
embodiments, upon determining that a seat height adjustment is to
be performed, the system may also determine whether the
to-be-performed seat height adjustment includes a height increase
or a height decrease. In at least one embodiment, the system may
store a current height of a seating system (e.g., sourced from a
hall sensor configured in a seat height actuator). In one or more
embodiments, the system may compare the stored current height to a
seat height parameter. In various embodiments, if the seat height
parameter is greater than the stored current height, the system
proceeds to step 1712. In one or more embodiments, if the seat
height parameter is less than the stored current height, the system
proceeds to step 1714. In at least one embodiment, if the sum or
difference of the stored current height and the seat height
parameter exceeds a maximum height threshold and/or falls beneath a
minimum height threshold, the system may generate an alert. In one
or more embodiments, if the stored current height is equal to the
seat height parameter, or if a seat height parameter is not
inputted to the system or retrieved, the system may suspend the
configuration process 1700.
[0229] At step 1712, the system processes a received seat height
parameter, determines a seat height actuator parameter, and
commands a seat height actuator to activate according to the
determined seat height actuator parameter. In one or more
embodiments, the system may determine the seat height actuation
parameter by calculating a seat height solution including, but not
limited to, a duration of actuator activation required to reach the
seat height parameter (e.g., also taking a current seat height
and/or seat height actuator position into account). In at least one
embodiment, the system generates and transmits a seat height
actuator command, including the seat height solution, to a seat
height actuator that processes the command and activates for the
calculated duration and/or raises a seat height arm to a calculated
height, thereby raising a height of a seating system connected
thereto (e.g., and also raising a height of a BWS system connected
to the seating system). In at least one embodiment, the system may
perform seat system configuration processes without adjusting a
seat height. For example, a system may configure a seating system
from a seated configuration to a standing configuration (and vice
versa) without adjusting a seat height.
[0230] At step 1714, the system processes a received seat height
parameter, determines a seat height actuator parameter, and
commands a seat height actuator to activate according to the
determined seat height actuator parameter. In one or more
embodiments, the system may determine the seat height actuation
parameter by calculating a seat height solution including, but not
limited to, a duration of actuator activation required to obtain
the seat height parameter (e.g., also taking a current seat height
and/or seat height actuator position into account). In at least one
embodiment, the system generates and transmits a seat height
actuator command, including the seat height solution, to a seat
height actuator that processes the command and activates for the
calculated duration and/or lowers a seat height arm to a calculated
height, thereby decreasing a height of a seating system connected
thereto (e.g., and also decreasing a height of a BWS system
connected to the seating system).
[0231] At step 1716, the system determines if a sit-stand
adjustment is required. In at least one embodiment, the system
receives a configuration mode. For example, the system may receive
or retrieve a configuration mode determined at step 1604. In
various embodiments, the system may also retrieve a stored current
configuration mode that describes a current configuration of the
system (e.g., either a seated configuration or a standing
configuration). In one or embodiments, the system compares the
received configuration mode to the stored configuration mode, and,
if the modes match, the system proceeds to step 1722. In at least
one embodiment, if the stored configuration is "Standing" and the
received configuration mode is "Seated," the system proceeds to
step 1718. In various embodiments, if the stored configuration is
"Seated" and the received configuration mode is "Standing," the
system proceeds to step 1720.
[0232] At step 1718, the system generates and transmits a command
to a sit-stand actuator. In at least one embodiment, upon receiving
the command, the sit-stand actuator activates and extends to a
fully extended position. In one or more embodiments, as described
herein, full extension of the sit-stand actuator may cause a seat
back assembly to project outward from the system (e.g., from a
tower thereof) and may cause a seat bottom assembly to rotate
clockwise until positioned orthogonal to the seat back assembly. In
at least one embodiment, the system may command a sit-stand
actuator to perform a partial extension. For example, based on a
height, or other dimension, of a subject, the system may command a
sit-stand actuator to partially extend, thereby partially
translating a seat back assembly and partially rotating a seat
bottom assembly clockwise.
[0233] At step 1720, the system generates and transmits a command
to a sit-stand actuator. In at least one embodiment, upon receiving
the command, the sit-stand actuator activates and retracts to a
fully retracted position. In one or more embodiments, as described
herein, full retraction of the sit-stand actuator may cause a seat
back assembly to withdraw inward towards the system (e.g., towards
a tower thereof) and may cause a seat bottom assembly to rotate
counterclockwise until positioned obtuse to the seat back assembly.
In at least one embodiment, the system may command a sit-stand
actuator to perform a partial retracting. For example, based on a
height, or other dimension, of a subject, the system may command a
sit-stand actuator to partially extend, thereby partially
translating a seat back assembly (e.g., in a direction opposite a
translation performed at step 1718) and partially rotating a seat
bottom assembly counterclockwise.
[0234] Following step 1720, the system may proceed to step
1722.
[0235] At step 1722, the system determines if activation of a body
weight support system (BWS) is to be performed. In at least one
embodiment, the system may formulate the determination based on
processing one or more configuration parameters and/or by receiving
a BWS selection on a rendered GUI. If the system determines that
the BWS system is to be engaged, the system performs a BWS
configuration process 2100 (FIG. 21). If the system determines that
the BWS system is not required, the system concludes the
configuration process 1700. In at least one embodiment, the system
may perform a BWS configuration process 2100 in a standing
configuration or a sitting configuration (e.g., or in partial
configurations therebetween).
[0236] FIG. 18 is a flowchart showing an exemplary safety process
1800, according to one embodiment of the present disclosure. At
step 1802, the safety process 1800 includes evaluating
configurations of one or more emergency stops. In at least one
embodiment, an emergency stop refers to a system (e.g., such as,
for example, a safety relay circuit) that, upon being triggered
(e.g., disconnected or connected), causes an emergency shutdown
including, but not limited to, suspension of all powered assistance
processes, application of one or more emergency brakes (e.g.,
ceasing motion of one or more mechanical components), and execution
of one or more shutdown procedures (as described herein). In
various embodiments, an emergency stop may include, but is not
limited to, one or more safety contactors.
[0237] In at least one embodiment, determining that an emergency
stop is configured can include, but is not limited to, determining
if one or more safety contactors have been properly positioned
(e.g., on a subject, on one or more system components, etc.). For
example, the system may include a safety contactor that, when
attached to a subject, completes an emergency stop circuit. To
determine that the emergency stop circuit is properly configured,
the system may determine if the emergency stop circuit is completed
(e.g., by sending a test signal through the circuit and/or by
sampling the circuit's voltage, current, resistance, etc.). In
various embodiments, if the system determines that the emergency
stop is configured, the system proceeds to step 1806 (e.g.,
skipping step 1804). In one or more embodiments, if the system
determines that the emergency stop is not configured, the system
may proceed to step 1804.
[0238] At step 1804, the system may generate and transmit an alert.
In one or more embodiments, an alert may include, but is not
limited to: 1) an electronic notification (e.g., a push alert,
text, email, etc.); 2) a displayed alert that is rendered on a
display connected to the system; 3) an audible tone and/or voice
recording; and 4) a vibrational alert that may be felt by a system
operator and/or subject. In at least one embodiment, the alert may
include a description of the alert's cause (e.g., non-configuration
of an emergency stop, anomalous sensor states, unsatisfactory
sensor-threshold pair, etc.). In various embodiments, after
transmitting an alert, the system may restart the safety process
1800.
[0239] At step 1806, the system confirms an emergency stop
threshold. In one or more embodiments, prior to confirmation of an
emergency stop threshold, the system may be configured to prevent
operation of system elements (e.g., footplates, handles, a motor,
etc.). For example, the system may include a lockout system that
prevents operation of system elements unless an emergency stop
threshold is confirmed. In at least one embodiment, an emergency
stop threshold may be reset following each training process 1600
and/or following each configuration process 1700.
[0240] At step 1808, the system evaluates states of one or more
system sensors. In at least one embodiment, the one or more system
sensors may include, but are not limited to, hall sensors,
inductive sensors, infrared alignment sensors, weight sensors, and
one or more additional sensors that transduce physical phenomena
into electrical signals and/or measure positions and orientations
of system elements. In various embodiments, the system may retrieve
one or more sensor thresholds. For example, the system may retrieve
a set of thresholds related to alignment and function of various
system elements.
[0241] In an exemplary scenario, the system retrieves a threshold
for rotational alignment of a rotatable tower and a base. The
system may retrieve data from an inductive sensor that records an
angle of rotation between the tower and the base. The system may
evaluate the data and determine that a current angle of rotation
between the tower and the base is 0 degrees. The retrieved
threshold may specify a rotation of 0 degrees as satisfying the
threshold. Accordingly, the system may compare the evaluated
rotation angle of 0 degrees to the retrieved threshold, and may
determine that the threshold is satisfied.
[0242] In one or more embodiments, the system may include a set of
sensors and sensor thresholds that must be satisfied for
confirmation of one or more safety thresholds. For example, the set
of sensors and sensors thresholds may include the above described
inductive sensor and tower rotation threshold. The set of sensors
and sensor thresholds may also include, but is not limited to: 1) a
seat pivot sensor and a seat pivot threshold; 2) a harness safety
sensor and a harness safety threshold; and 3) a BWS sensor and a
BWS threshold. The seat pivot sensor may determine a rotational
position of a seat bottom assembly, and the seat pivot threshold
may be satisfied by a rotation between about 0-120 degrees. The
harness safety sensor may determine if a safety harness is properly
attached to a subject, the safety harness threshold may be
satisfied by confirmation of proper safety harness attachment. The
BWS sensor may determine if a BWS system is properly functioning,
and the BWS threshold may be satisfied by confirmation of proper
BWS system function. For example, the BWS sensor may be a force
sensor that records a tensile force between a spring and a spring
anchor. The BWS threshold may be a range of acceptable baseline
forces (e.g., baseline referring to a BWS system without a
subject). In the same example, if the BWS sensor reports a force
within the range of acceptable baseline forces, the BWS threshold
may be satisfied.
[0243] In at least one embodiment, the system evaluates each sensor
and sensor threshold included in a set of sensors and thresholds.
In various embodiments, for each sensor-threshold pair, or the
like, the system may update the set to include a "PASS" parameter,
indicating that the threshold is met, or a "FAIL" parameter,
indicating that a threshold is not satisfied.
[0244] At step 1810, the system determines if any sensors failed to
satisfy a threshold. In various embodiments, to formulate a
determination, the system may process the sensor evaluations
generated at step 1810 (e.g., formatted as a set of sensors and
thresholds) and determine if any sensors failed to satisfy an
associated threshold. In an exemplary scenario, the system may
process an updated set of sensors and index all sensor-threshold
pairs that include a "FAIL" parameter. If the returned index is
empty, the system determines that all sensors pass evaluation and
the system proceeds to step 1812. If one or more embodiments, if
the returned index is not empty (e.g., at least one
sensor-threshold pair is included), the system proceeds to step
1804.
[0245] At step 1812, the system confirms one or more safety
thresholds. In one or more embodiments, the system may include a
safety threshold for each sensor evaluated at step 1808. In at
least one embodiment, the system may process an updated set of
sensors and thresholds (e.g., all sensor-threshold pairs including
a "PASS" parameter) to confirm one or more safety thresholds. In
various embodiments, upon confirming the one or more safety
thresholds, the system may receive a subject.
[0246] FIG. 19 is a flowchart showing an exemplary manual training
process 1900. At step 1902, the system determines whether or not a
subject wishes to begin a training session. In one or more
embodiments, the system may receive a session initialization
command that causes the system to begin a training session. For
example, the system may receive a session initialization command
via selections made on a rendered GUI. In at least one embodiment,
a session initialization command may include a session duration,
resistance parameters, and one or more other training parameters.
In one or more embodiments, if the system determines that the
subject wishes to begin a training session, the system proceeds to
step 1904. In one or more embodiments, if the system determines
that the subject does not wish to begin a training session, the
system suspends the manual training process 1900.
[0247] At step 1904, the system determines a desired resistance
level and configures a clutch to achieve the desired resistance
level. In or more embodiments, the system may retrieve a desired
resistance level from a session initialization command received at
step 1902. In at least one embodiment, the system may render, on a
connected display, a GUI containing a field for inputting a
resistance level. In various embodiments, the system may receive a
resistance level via selections and/or information made in a
resistance level field included in a GUI. In one or more
embodiments, the system may process a subject identifier to
retrieve a stored resistance level.
[0248] In at least one embodiment, the system processes a
resistance level and activates a clutch. In one or more
embodiments, the resistance command may cause a clutch (as
described herein) to enter an activated state and generate
resistance equal to a processed resistance level. In an exemplary
scenario, the clutch is a magnetic particle clutch, and the
resistance command may cause the magnetic particle clutch to
generate a magnetic field of a particular strength. The system may
determine the particular strength of the magnetic field by
converting the desired resistance level into a magnetic field
strength (e.g., via one or more calculations). The system may cause
the magnetic particle clutch to generate the particular strength by
calculating, based on the particular strength, a magnitude of
electricity (e.g., a voltage, current, etc.) required to generate a
magnetic field of the particular strength (e.g., at the magnetic
particle clutch). In various embodiments, the system may configure
a magnetic particle clutch by supplying (or causing an additional
system to supply) a calculated magnitude of electricity to the
magnetic particle clutch. As will be understood from discussions
herein, the resistance level may be set at zero (e.g., or very low
resistance).
[0249] At step 1906, the system executes a training session and
records session data throughout the training session. In at least
one embodiment, the training session may be automatically executed
upon detection of movement at one or more footplates, one or more
handles, and or upon detection of rotation of a linkage and/or
linkage components (e.g., as describe herein). For example, a
subject oriented in the system may move a footplate, and the
system, upon detecting the footplate movement, may automatically
execute the training session and begin recording session data. In
various embodiments, recorded session data may include, but is not
limited to: 1) a training duration; 2) a step count metric; 3) a
step rate metric; 4) a peak period metric that identifies and/or
describes a period of highest step rate, step count, etc.; and 5)
one or more additional training metrics.
[0250] In at least one embodiment, throughout a training session,
the system may continue to monitor and evaluate states of one or
more sensors (e.g., as described herein). For example, a system may
continuously monitor an emergency stop to confirm proper
configuration, and may suspend a training session should the system
determine that the emergency stop is not properly configured. In
various embodiments, the system may include one or more switches
and/or trip-able sensors that are only activated and/or tripped in
response to system malfunctions. For example, the BWS system 107
may include a switch sensor for detecting improper rotation of the
overhead support 205, the central support 206, or one or more
connected components. In an exemplary scenario, the switch may be
activated if the overhead support 205 and/or central support 206 is
rotated and/or pivoted to a perpendicular position (e.g., which may
occur due to a component failure, weight overload, etc.). Upon the
switch being activated, the system may trigger an emergency
shutdown including, but not limited to, disconnecting and/or
powering down a motor unit, and applying one or more brakes, or the
like, to stop linkage motions.
[0251] At step 1908, the system determines if the subject wishes to
continue a training session. In one or more embodiments, the system
may proceed to step 1908 following elapse of a predefined or
subject-defined training session period. In at least one
embodiment, the system may proceed to step 1908 upon detecting that
a linkage (as described herein) has ceased all translational and/or
rotational movement (e.g., as indicated by position and/or
rotational sensors distributed therein).
[0252] In various embodiments, the system may formulate a
determination by rendering a GUI that includes fields for electing
to continue or suspend the training session (e.g., a "Yes" field
and a "No" field). In at least one embodiment, the system may
receive and process a field selection to determine if the subject
desires to suspend the session (e.g., a "Yes" selection indicating
training session continuation and a "No" selection indicating
training session suspension). In one or more embodiments, if the
system determines that the subject wishes to continue a training
session, the system performs a safety analysis process 1800 and
returns to step 1902. In at least one embodiment, if the system
determines that the subject does not wish to continue the training
session, the system suspends the manual training process 1900.
[0253] FIG. 20 is a flowchart showing an exemplary powered training
process 2000. At step 2002, determines whether or not a subject
wishes to begin a training session. In one or more embodiments, the
system may receive a session initialization command that causes the
system to begin a training session. For example, the system may
receive a session initialization command via selections made on a
rendered GUI. In at least one embodiment, a session initialization
command may include a session duration, resistance parameters, and
one or more other training parameters. In one or more embodiments,
if the system determines that the subject wishes to begin a
training session, the system proceeds to step 2004. In one or more
embodiments, if the system determines that the subject does not
wish to begin a training session, the system suspends the manual
training process 2000.
[0254] At step 2004, the system determines a desired assistance
level and configures a motor unit and a clutch to achieve the
desired assistance level. In or more embodiments, the system may
retrieve a desired assistance level from a session initialization
command received at step 2002. In at least one embodiment, the
system may render, on a connected display, a GUI containing a field
for inputting an assistance level. In various embodiments, the
system may receive an assistance level via selections and/or
information made in an assistance level field included in a GUI. In
one or more embodiments, the system may process a subject
identifier to retrieve a stored assistance level.
[0255] In at least one embodiment, the system processes an
assistance level and activates a motor unit and a clutch. In one or
more embodiments, the system may activate a mechanism that engages
an output of the motor unit and/or subsequent connected element
(e.g., a transmission), thereby causing the motor unit to provide
power to a driving link mechanism and rotate one or more driving
links (e.g., thereby activating one or more linkages, as described
herein). In at least one embodiment, the motor unit may provide a
fixed output of power (e.g., assistance), and the clutch may be
configured to step down the outputted power to obtain a desired
assistance level. In one or more embodiments, the system may cause
a clutch (as described herein) to enter an activated state and
generate assistance equal to a processed assistance level. In an
exemplary scenario, the clutch is a magnetic particle clutch, and
the system may cause the magnetic particle clutch to generate a
magnetic field of a particular strength. The system may determine
the particular strength of the magnetic field by converting the
desired assistance level into a magnetic field strength (e.g., via
one or more calculations). The system may cause the magnetic
particle clutch to generate the particular strength by calculating,
based on the particular strength, a magnitude of electricity (e.g.,
a voltage, current, etc.) required to generate a magnetic field of
the particular strength (e.g., at the magnetic particle clutch). In
various embodiments, the system may configure a magnetic particle
clutch by supplying (or causing an additional system to supply) a
calculated magnitude of electricity to the magnetic particle
clutch.
[0256] At step 2006, the system executes a training session and
records session data throughout the training session. In at least
one embodiment, the training session may be automatically executed
upon detection of movement at one or more footplates, one or more
handles, and or upon detection of rotation of a linkage and/or
linkage components (e.g., as describe herein). In at least one
embodiment, the system may await detection of movement before
engaging a motor unit and clutch at step 2004. For example, a
subject oriented in the system may move a footplate, and the
system, upon detecting the footplate movement, may automatically
engage a motor unit and a clutch, thereby providing powered
assistance to the subject. In various embodiments, recorded session
data may include, but is not limited to: 1) a training duration; 2)
a step count metric; 3) a step rate metric; 4) a peak period metric
that identifies and/or describes a period of highest step rate,
step count, etc.; and 5) one or more additional training
metrics.
[0257] At step 2008, the system determines if the subject wishes to
continue a training session. In one or more embodiments, the system
may proceed to step 2008 following elapse of a predefined or
subject-defined training session period. In at least one
embodiment, the system may proceed to step 2008 upon detecting that
a linkage (as described herein) has ceased all translational and/or
rotational movement (e.g., as indicated by position and/or
rotational sensors distributed therein).
[0258] In various embodiments, the system may formulate a
determination by rendering a GUI that includes fields for electing
to continue or suspend the training session (e.g., a "Yes" field
and a "No" field). In at least one embodiment, the system may
receive and process a field selection to determine if the subject
desires to suspend the session (e.g., a "Yes" selectin indicating
training session continuation and a "No" selection indicating
training session suspension). In one or more embodiments, if the
system determines that the subject wishes to continue a training
session, the system performs a safety analysis process 1800 and
returns to step 2002. In at least one embodiment, if the system
determines that the subject does not wish to continue the training
session, the system suspends the powered training process 2000.
[0259] FIG. 21 is a flowchart showing an exemplary BWS
configuration process 2100. In various embodiments, the body weight
support process may include operation of a BWS system 107, as
described herein.
[0260] At step 2102, the system may receive an offset command. In
one or more embodiments, an offset command may be received
following a determination (e.g., formulated during a configuration
process 1700) that a BWS system is to be used by a subject. In at
least one embodiment, the offset command may include, but is not
limited to, a subject weight and an offset percentage (e.g.,
between 0-100%). In various embodiments, an offset percentage
refers to a proportion of a subject's weight to be offloaded via a
BWS system. For example, an offset command may include a subject
weight of 200 pounds and an offset percentage of 50%, thereby
indicating that the subject wishes to offload 100 pounds via a BWS
system. In at least one embodiment, the system may receive an
offset command by: 1) rendering, on a connected display, a GUI
including a subject weight field and an offload percentage field;
and 2) receiving and processing inputs to each field. In one or
more embodiments, the system may process a subject identifier and
retrieve a stored offset command (or information included therein)
from a database, or the like.
[0261] At step 2104, the system collects sensor data from a BWS
system. In various embodiments, the system may collect sensor data
from sensors including, but not limited to, position sensors and/or
force sensors configured within the BWS system. For example, the
system may collect force data from sensors that measure forces
between a spring and a spring anchor, between a spring anchor and a
force transfer beam, and/or between a harness or strap system and
an overhead support. As another example, the system may collect
position data from sensors that measure a stretch length of a
spring and/or that measure a position of a spring actuator rod. As
an additional example, the system may collect weight data from one
or more weight sensors disposed in a portion of a track positioned
beneath a BWS system. Because a subject may be situated above the
track portion, the one or more weight sensors may measure and
record the subject's weight.
[0262] At step 2106, the system determines one or more actuation
parameters. In various embodiments, an actuation parameter may
include determining an offset, a spring stretch distance, and a
spring actuator solution. In at least one embodiment, an offset
refers to a metric calculated by multiplying a subject weight by an
offset percentage. For example, the system may calculate, for a
subject weighing 200 pounds and desiring an offset percentage of
50%, and offset equal to 100 pounds. In one or more embodiments, a
spring stretch refers to a length to which a spring must be
stretched to generate an offloading force equal to a calculated
offset. In various embodiments, the system may calculate the spring
stretch by solving Equation 1, where k represents a spring
constant, F represents an offset, and x represents the spring
stretch.
F=-k*x (Equation 1)
For example, a subject may require an offset of 100 pounds and a
spring may present a spring constant of 85 lbs/in. The system may
solve Equation 1 for x and calculate a spring stretch of about 1.18
inches, thereby indicating that a spring must be stretched by at
least about 1.18 inches to generate an offloading force sufficient
to provide the subject's required offset. Because the spring
stretch may be facilitated via an attached spring actuator rod, the
offset may also refer to a contraction or extension distance
required by a spring actuator and a spring actuator rod to achieve
the offset. In the above example, the 1.18 inch offset may also
describe a distance that a spring actuator rod must retract to
cause the spring to generate the 100 pound offset.
[0263] In various embodiments, the system may store one or more
spring constants (e.g., for purposes of calculating a spring
offset). In various embodiments, configuration of a spring within a
BWS system may inherently include partial stretching of the spring,
thereby generating a baseline offloading force. In at least one
embodiment, before solving Equation 1, the system may adjust "F" by
subtracting a baseline offset force currently generated by a
spring. To continue the above example, the system, prior to solving
Equation 1, may retrieve a baseline offset force of 15 pounds
(e.g., recorded via one or more sensors, as described herein). The
system may subtract the 15 pound offset force from the 100 pound
offset to generate an adjusted offset of 85 pounds. The system may
then solve Equation 1 using the adjusted offset, and may calculate
a spring stretch of about 1.0 inch.
[0264] In one or more embodiments, the system may use a look-up
table or the like to determine the one or more actuator parameters
(e.g., opposed to, or in addition to, an equation or equations).
For example, the system may include a table stored in local or
remote (e.g., cloud) memory including system or one or more
actuator parameters (e.g., spring stretch) matched with subject
inputs (e.g., subject weight). Continuing with this example, upon
receiving the subject inputs, the system uses a look-up table to
determine corresponding system or one or more actuator parameters
(e.g., spring stretch or other parameters).
[0265] In at least one embodiment, the system determines a spring
actuator solution that may include a spring actuator rod position
and/or a spring actuator activation duration. In various
embodiments, a spring actuator solution may be based, in part, on a
calculated spring stretch and sensor data describing a current
orientation of a spring actuator. To continue the above example,
the system may determine that a spring actuator rod is extended to
a length of about 6 inches. The system may subtract the 1 inch
calculated spring stretch from the 6 inch current position to
identify a stretch position of 5 inches. In various embodiments,
the system may calculate a spring actuator activation duration by
solving a stored actuation position equation (e.g., using the
calculated stretch as an input). To continue the above example, the
system may retrieve an actuation constant that describes a
magnitude of actuation extension or retraction produced for a given
length of time (e.g., 1 second). The retrieved actuation constant
may be about 1.3 seconds per inch. The system may calculate a
spring actuator activation duration by multiplying the 1 inch
calculated stretch by the 1.3 seconds/inch actuation constant,
thereby outputting a spring actuator activation duration of 1.3
seconds. In at least one embodiment, a spring actuator may be
configured to automatically calculate a spring actuator solution
upon receipt of a calculated stretch (e.g., included in a spring
actuator solution transmitted by the system to the spring
actuator). In at least one embodiment, because the system may store
data regarding positions and other parameters of the spring and
spring actuator, the system may calculate a spring stretch solution
without calculation (e.g., based on historical parameters).
[0266] In some embodiments, the system may calculate an actuator
rod movement, based on a known length of the actuator rod. In these
embodiments (and others), the system may move an actuator rod to
correspond to the calculated spring stretch.
[0267] At step 2108, the system determines if the stretch
calculated at step 2106 is achievable. In various embodiments, a
stretch may be unachievable if the stretch magnitude is greater
than a maximum spring actuator extension distance, or is greater
than a minimum spring actuation retraction distance. In various
embodiments, the system may retrieve: 1) a maximum contraction
distance (associated with the spring actuator and spring actuator
rod) that describes a maximum length to which a spring actuator rod
may be retracted (e.g., from a current and/or rest position); and
2) a maximum extension distance that describes a maximum length to
which a spring actuator rod may be extended (e.g., from an initial
or current position). In one or more embodiments, if the system
determines that a calculated stretch is greater than a maximum
contraction distance and/or greater than a maximum extension
distance, the system may determine that the stretch is unachievable
and suspend the BWS configuration process 2100. In at least one
embodiment, if the system determines that a calculated stretch is
less than a maximum contraction distance and/or less than a maximum
extension distance, the system determines that the stretch is
achievable and proceeds to step 2110.
[0268] In an exemplary scenario, at step 2106, the system may
calculate a stretch of 6.0 inches, thereby indicating that a spring
actuator must retract a spring actuator rod by a length of 6.0
inches to generate a sufficient offset force. In the above
scenario, the system may compare a retrieved maximum contraction
distance of 5 inches to the calculated 6.0 inch stretch. Because
the required stretch is greater than the maximum contraction
distance, the system may determine that the stretch is
unachievable. In at least one embodiment, if the system determines
that a stretch is unachievable, the system may suspend the BWS
configuration process 2100. In at least one embodiment, if the
system determines that a stretch is unachievable, the system may
also generate and translate an alert (as described herein)
notifying a subject and/or operator that a desired offset is
unachievable.
[0269] At step 2110, the system executes BWS actuation by
activating a spring actuator. In at least one embodiment, the
system may generate and transmit, to the spring actuator, a command
that includes the stretch determined at step 2106. In one or more
embodiments, the command may cause the spring actuator to extend or
retract a spring actuator rod by a magnitude equal to the
transmitted stretch. In various embodiments, extension or
retraction of the spring actuator rod may cause a corresponding
retraction or extension of the spring, thereby providing the
calculated offset via tensile forces transferred to a subject
connected to the BWS system (as described herein).
[0270] FIG. 22 is a flowchart showing an exemplary stride length
configuration process 2200. In various embodiments, a stride length
configuration process 2200 may be performed to adjust a stride
length provided to a subject via the present system. In at least
one embodiment, adjustment of stride length may be required due to
variances in subject dimensions and gait cycles. In one or more
embodiments, stride length configuration may be achieved via
positioning of a driving linkage along a stride length track (e.g.,
facilitated via activation of a stride length actuator). Because a
stride length may be determined by a radius of rotation of an outer
footplate link, decreasing the outer footplate link's radius of
rotation may decrease the stride length, and increasing the outer
footplate link's radius of rotation may increase the stride
length.
[0271] At step 2202, the system receives a stride length command
that includes a desired stride length. In at least one embodiment,
the system may receive a stride length command by: 1) rendering, on
a connected display, a GUI including a stride length field; and 2)
receiving and processing input to the field. In various
embodiments, a GUI may include a selector and/or slider interface
that allows a subject or operator to iteratively and incrementally
adjust a stride length. In at least one embodiment, each input to a
selector and/or slider may cause the system to generate a
subsequent stride length command. In one or more embodiments, the
system may process a subject identifier and retrieve a stored
stride length command from a database, or the like. As will be
understood from discussions herein, in various embodiments, the
system may calculate a stride length based on a subject's height,
weight, etc.
[0272] At step 2204, the system determines an actuation parameter.
In various embodiments, the actuation parameter may refer to an
actuation position and/or an actuation activation duration required
to achieve the received stride length and/or incremental input. In
at least one embodiment, the actuator parameter may be based on a
received stride length and/or a received incremental input. In one
or more embodiments, the system may determine the actuation
parameter by calculating: 1) a radius of rotation required to
achieve the stride length and/or increment; and 2) a direction and
magnitude of translation by which to translate a stride length
linkage to achieve the calculated radius. In various embodiments,
the system may compute a radius of rotation by performing one or
more actions, including but not limited to, mathematical
computations, table lookups, or other computational methods. For
example, the system may solve an equation relating radius of
rotation, stride length linkage position and/or translation, and
stride length. An exemplary stride length equation may be Equation
2, where L.sub.s represents a stride length, r represents a radius
of rotation, and c represents a constant ratio between L.sub.s and
r.
L.sub.s=r*c (Equation 2)
In the same example, a subject may input a stride length (L.sub.s)
of 30 inches. The system may calculate, based on the stride length
and a constant ratio (c) of 0.6, a radius of rotation of 18 inches.
In another example, the system may determine a radius of rotation
based on one or more tables relating stride length and radius of
rotation.
[0273] In various embodiments, upon determining a radius of
rotation, the system may determine an actuation parameter including
a direction and magnitude of translation. In at least one
embodiment, determining the direction and magnitude of translation
may include, but is not limited to: 1) determining a current radius
of rotation by determining a current position of a driving linkage;
and 2) determining an actuation parameter by comparing the current
radius of rotation to the calculated radius of rotation. To
continue the above example, the system may determine, via one or
more sensors, a current radius of rotation of 15 inches. The system
may compare the current radius to the calculated radius and
determine an actuation parameter of (+) 3 inches, thereby
establishing that a driving linkage must translate away from a
center of rotation by 3 inches. In at least one embodiment, the
system may convert a length-based actuation parameter to an
activation duration actuation parameter, or conversion may be
performed automatically by a stride length actuator.
[0274] At step 2206, the system executes stride length actuation.
In various embodiments, executing stride length actuation may
include, but is not limited to, transmitting, to a stride length
actuator, an actuation command that includes an actuation parameter
determined at step 2204. In various embodiments, the actuation
command may cause the stride length actuator to engage and
translate a driving linkage in the determined direction and by the
determined translation magnitude, thereby positioning the stride
length linkage at the calculated radius of rotation and achieving
the desired stride length. In one or more embodiments, if a subject
or operator performs stride length configuration via incremental
inputs to a GUI, the system may cause the stride length actuator
to, in response to each input, engage and translate the driving
linkage by a preprogrammed distance and in a direction determined
via the incremental input.
Description of Additional Embodiments
[0275] In at least one embodiment, a gear system 1210 may provide
for synchronized subject arm motion (e.g., via handles 1202) and
leg motion (e.g., via footplates 1204) at a ratio proportional to a
ratio of an average person's arm length and leg length. In at least
one embodiment, an average person's arm length may measure about
23-27 inches and an average person's arm length may measure about
31-35 inches. In various embodiments, one or more gear ratios
within the gear system 1210 may determine a ratio between a
translation of the footplate 1204 and a corresponding, reverse
translation of the handle 1202. For example, the gear system 1210
may include two gears with a particular gear ratio. The particular
gear ratio may cause translations of the footplate 1204 to be
proportionally greater than corresponding, reverse translations of
the handle 1202. In at least one embodiment, the particular gear
ratio may be selected, because, in typical gait cycles, a foot
stride length (e.g., magnitude of a forward translation of a foot)
may be of greater magnitude than a corresponding hand stride
length. Accordingly, to provide a realistic gait cycle, the gear
system 1210 may be configured such that a stride length of a
footplate 1204 is greater than a stride length of a handle 1202. In
at least one embodiment, a stride length of a handle 1202 may be
calculated by: 1) determining an average (e.g., 90.sup.th
percentile) arm length from a pool of subjects; and 2) selecting a
gear ratio of the gear system 1210 to facilitate typical gait cycle
foot/hand translations that would be experienced by a subject that
demonstrates the determined average arm length. In various
embodiments, the gear system 1210 may include one or more
mechanisms for changing a ratio between a footplate 1204
translation and a handle 1202 reverse translation). For example,
the gear system 1210 may include a mechanism for manipulating one
or more gear ratios therein. In at least one embodiment, the one or
more mechanisms may include, but are not limited to: 1)
transmissions; 2) gear switching mechanisms (e.g., for example, a
mechanism similar to a bicycle gear change mechanism); 3) torque
converters (e.g., for example, a magnetic particle clutch; and 4)
additional mechanisms for configuring and/or modifying a gear ratio
and/or modifying translation ratios.
[0276] In at least one embodiment, the lock-pin system 119 may
include one or more triggering mechanisms that allow a subject
and/or operator to disengage the lock system 119. For example, a
spring-loaded lock-pin mechanism within the lock-pin system 119 may
be connected to a first end of a cable that, when pulled, withdraws
the lock-pin mechanism from a locking void (as described herein),
thereby disengaging the lock-pin system 119. In the same example,
the cable may be connected, at a second end, to a trigger, and the
cable may be configured such that pulling the trigger pulls the
cable with sufficient displacement to disengage the lock-pin system
119. The trigger may be configured within a handle attached to an
exterior surface of the rehabilitation device 100. In various
embodiments, translation of the sled 103 and rotation of the tower
101 may each be controlled via the above described lock
disengagement mechanisms.
[0277] The system may include an electronically controlled lock-pin
and/or tower rotation system. In at least one embodiment, the
system includes actuators and/or motors that allows a user to
select a rotation position of the tower (e.g., via a GUI) and the
system will substantially automatically rotate the tower to the
selected rotation position.
[0278] In at least one embodiment, an outer footplate link 1203 may
raise and/or lower a connected footplate 1204 as the outer
footplate link 1203 proceeds through forward and reverse
translations (e.g., as a result of linkage 111 operations). For
example, an outer footplate link 1203 may be positioned at a
maximum reverse translation point (e.g., as shown in FIG. 13). At
the maximum reverse translation point, the outer footplate link
1203 may drive a connected footplate 1204 downwards to a lowered
position. In the same example, as the outer footplate link 1203
experiences a forward translation (e.g., as shown in FIG. 14), the
outer footplate link 1203 may drive the footplate 1204 upwards to a
raised position. After reaching a maximum forward translation
point, the outer footplate link 1203 may experience a reverse
translation, and the outer footplate link 1203 may drive the
footplate 1204 may drive footplate 1204 downwards throughout the
reverse translation.
[0279] In various embodiments, the one or more linkages and/or the
footplate 1204 may be configured in a manner such that raising and
lowering actions are similar to raising and lowering actions
experienced by a foot progressing through a natural gait cycle. For
example, as shown in FIG. 13, a footplate 1204 may be oriented at a
lowered position when a linkage 111 is configured in a position
analogous to a gait cycle's loading response and/or mid-stance
phase. As another example, as shown in FIG. 14, a footplate 1204
may be oriented at a raised position when a linkage 111 is
configured in a position analogous to a gait cycle's swing phase.
As an additional example, as shown in FIG. 15, a footplate 1204 may
be positioned at a partially lowered position when a linkage 111 is
configured in a position analogous to a gait cycle's loading
response phase. In at least one embodiment, vertical travel of a
footplate 1204, throughout a gait cycle, may be adjusted manually
and/or automatically. In one or more embodiments, vertical travel
may be determined by a distance between an end of an outer
footplate link 1203 and an end of an inner footplate link 1205
connected along a shared axis. In at least one embodiment, vertical
travel (of a connected footplate 1204) may be increased by
increasing distance, along the shared axis, between the end of the
outer footplate link 1203 and the end of the inner footplate link
1205. In various embodiments, the distance may be adjusted via a
screw system, a wheel system, a quick pin system, or one or more
other systems and/or methods. In one or more embodiments,
adjustment of the vertical travel may allow a rehabilitation 100 to
more comfortably accommodate subjects of varying dimensions.
[0280] In one or more embodiments, a footplate 1204 may also
include a pivoting apparatus. In at least one embodiment, the
pivoting apparatus may allow the footplate 1204 to pivot as the
footplate 1204 proceeds through a gait cycle. In various
embodiments, the pivoting apparatus may advantageously provide a
pivot motion analogous to pivoting motions experienced by a foot
proceeding through a natural gait cycle. In one or more
embodiments, the pivoting mechanism may also be translatable along
the footplate 1204, and may be locked at a particular translation
point. For example, a pivoting mechanism may be translated along a
footplate 1204 in a manner such that the pivoting mechanism is
aligned with a ball of a subject's foot configured within the
footplate 1204 (and include a "toe end" nearest the sled and a
"heel end" furthest from the sled). In one or more embodiments,
positioning of a pivoting mechanism in alignment with a subject's
foot may further provide for realistic movements throughout a gait
cycle. For example, in a natural gait cycle, during a transition
between an initial contact phase and a loading response phase, a
subject's foot may pivot about a ball of the foot until the foot is
positioned flat. Accordingly, during an artificial gait cycle and
during the same transition, a pivoting mechanism may permit a
footplate 1204 to pivot about a pivot point, orienting to a more
substantially horizontal position, and, thus, mimicking motions of
the natural gait cycle.
[0281] In one or more embodiments, the rehabilitation system 100
may include a virtual reality system that provides a virtual
training experience to a subject positioned therein. In various
embodiments, the virtual reality system may include, but is not
limited to: 1) a visual accessory, such as, for example, a helmet,
glasses, a screen, and/or a combination thereof; and 2) a virtual
reality engine, such as, for example, a computing environment
capable of rendering dynamic virtual reality environments on a
visual accessory. In one or more embodiments, a virtual reality
engine may also receive outputs from one or more sensors that
measure performance of the subject during a training activity. For
example, the virtual reality engine may receive a step frequency
and may adjust one or more virtual reality content parameters to
reflect an effective speed with which the subject is moving. In at
least one embodiment, the virtual reality system may further
include one or more input devices that allow a subject to interact
and interface with virtual environments and content therein. In one
or more embodiments, the virtual reality system (and/or the
rehabilitation system 100) may further include one or more eye
tracking sub-systems that determine where a subject is looking
(e.g., on a display, GUI, etc.) and allow a subject to provide
inputs via the eye tracking sub-system and/or one or more input
accessories.
[0282] In at least one embodiment, motion one or more handles 1202
(as show in FIGS. 13-15) may provide an accurate simulation of hand
motion as would be experienced in a healthy, natural gait cycle. In
various embodiments, a healthy gait cycle may include, but is not
limited to: 1) a ratio between hand translation and foot
translation that is within a range demonstrated in natural gait
cycles; 2) an average hand height that is within a range
demonstrated in natural gait cycles; and 3) a hand position that is
substantially similar to hand positions demonstrated in natural
gait cycle. For example, an elliptical machine may present an
unhealthy gait cycle including: 1) an inaccurate hand
translation--foot translation ratio (e.g., a hand translation is
overly minimal for a corresponding foot translation); 2) an average
hand height that exceeds a range demonstrated in natural gait
cycles (e.g., an average hand height is at or above mid-torso
height, whereas a healthy range may fall around hip height); and 3)
a hand position that is not representative of hand positions in a
healthy gait cycle (e.g., hands are oriented to positions above
mid-torso). Accordingly, the present rehabilitation system 100 may
demonstrate an artificial gait that is distinct from movement
demonstrated by an elliptical machine. In at least one embodiment,
a gait demonstrated by the rehabilitation system 100 may be more
physiologically accurate and/or more facilitative of locomotive
rehabilitation than movements provided via an elliptical machine.
In one or more embodiments, a hand gait motion demonstrated by the
rehabilitation system 100 and a natural hand gait motion may be
substantially similar, noting that an elliptical machine's hand
gait motion may be substantially dissimilar to a natural hand gait
motion.
Description of Alternate Embodiments
[0283] In various embodiments, the present system may receive
communications, inputs, selections, and/or commands from one or
more input systems. In at least one embodiment, the one or more
input systems may include, but are not limited to: 1) voice-based
systems; 2) optical-based systems; and 3) brain-computer interfaces
(BCIs). In one example, voice-based systems may receive and process
audio signals (for example, a subject's voice) to determine an
action, selection, or other input that a subject wishes to perform
and/or provide. In one embodiment, a voice-based system may process
vocal inputs to cause actions including, but not limited to,
receiving configuration and session selections (as described
herein). As another example, an optical-based system may track and
process movements and behaviors of a subject's eye(s) to identify
movements and behaviors (e.g., inputs) that may correspond with one
or more actions (e.g., such as selecting various system parameters
and/or commands). As an additional example, a BCI may record and
process a subject's neural signals to translate and/or generate
various system inputs. In an exemplary scenario, a BCI may be
trained to recognize and correlate neural signals with system
actions, and configuration and session selections.
[0284] In one or more embodiments, the system may automatically
adjust session parameters based on collected session data. For
example, the system may include one or more force sensors to detect
force being applied by a subject to one or more footplates,
handles, grips, etc. In the same example, the system may process
measurements from the one or more force sensors to identify
performance and fatigue of a subject and adjust session parameters
according to one or more locomotion rehabilitation protocols (e.g.,
programmed into the system and/or configured by a system operator).
In an exemplary scenario, during a powered session, force sensors
may detect that a subject's applied forces at the footplates has
decreased by a particular proportion (e.g., 50% of a peak force).
Upon detecting the diminished force, the system may identify that
the subject requires increased assistance, and may automatically
increase assistance provided to the subject (as described herein).
In another exemplary scenario, force sensors in one or more handles
may detect that a subject is partially supporting themselves by
leaning on the handles. In the same scenario, the system may
determine that the subject requires additional BWS-enabled
offloading, and may automatically configured a BWS system to
increase an offloading force experienced by the subject. As another
example, the system may automatically adjust resistance or
assistance parameters based on session parameters including, but
not limited to: 1) a step count (e.g., as compared to a predefined
step threshold); 2) a step frequency (e.g., as compared to a
predefined step frequency threshold; and 3) a peak step period
(e.g., as compared to a peak step period threshold). In one
example, the system may automatically taper and/or incrementally
increase resistance or assistance during a session, and may perform
tapers and/or increases according to dynamic calculations or
according to one or more preprogrammed taper/increase
schedules.
[0285] In at least one embodiment, the system may be capable of
operation via telemedicine. For example, the system may include
controllers and outputs (e.g., displays, speakers, etc.) that allow
a system operator (e.g., a physical trainer, etc.) to remotely
provide assistance, guidance, and encouragement to a subject
performing a session. As another example, the system may be
operative to transmit subject performance readings (e.g., in real
time, or otherwise) to a remote systems operator for evaluation. In
various embodiments, the system may include one or more analytical,
statistical, and/or machine learning environments for processing,
evaluating, and model collected subject data (e.g., session
performance, session parameters, etc.). For example, the system may
perform one or more machine learning techniques to model historic
session parameters and session performance (e.g., sourced from both
individually-based and aggregated data), and identify a
rehabilitation training program that may be most beneficial to a
subject.
[0286] In one or more embodiments, the system may include a digital
social platform, or the like, that allows subjects to upload
session performance data, and observe session performance data
uploaded by others. For example, the system may include a social
media platform that allows system subjects to interact, provide
encouragement, and share session parameters (e.g., training
programs, etc.). In at least one embodiment, the system may be
operative to communicate with one or more wearable fitness
accessories that record physical performance. For example, the
system may be operative to transmit session parameter and
performance data to an electronic fitness band.
[0287] In various embodiments, gait motions produced at a sled 103
may be generated by a linkage 111 (as described herein), or may be
generated by a modified linkage, or other gait motion systems. In
at least one embodiment, a modified linkage system may omit and/or
combine elements of a linkage 111. For example, a modified linkage
system may omit a first connecting link and a second connecting
link. Instead, a handle link 1211 may be connected to a gear system
1210 via a single connecting that rotates and directs the handle
link 1211 along a track, thereby tracing and guiding the handle
link 1211 along an arc representative of a natural hand gait
motion. As another example, handle gait motions may be produced via
independently operating, but coordinated actuator systems that
synchronizes translation of a handle 1202 to translation of a
footplate 1204. In one or more embodiments, handle gait motions may
be produced via a system independent of a sled 103. For example,
handle gait motions may be generated via a handle system that is
separate and distinct from a sled 103, but synchronizes handle
motion to footplate motions thereof.
[0288] In one or more embodiments, a sled 103 may include multiple
linkages 111 that receive independently configured and programmed
assistive and resistive forces (e.g., via a motor unit 1217 and one
or more clutches 1223). For example, a sled 103 may include a left
linkage 111 and a right linkage 111. Each linkage 111 may receive
assistance from a connected motor unit 1217, but a magnitude of
assistance and/or resistance may be independently calibrated for
each linkage 111 by a clutch 1223 configured within each
linkage.
CONCLUSION
[0289] Aspects, features, and benefits of the systems, methods,
processes, formulations, apparatuses, and products discussed herein
will become apparent from the information disclosed in the exhibits
and the other applications as incorporated by reference. Variations
and modifications to the disclosed systems and methods may be
effected without departing from the spirit and scope of the novel
concepts of the disclosure.
[0290] It will, nevertheless, be understood that no limitation of
the scope of the disclosure is intended by the information
disclosed in the exhibits or the applications incorporated by
reference; any alterations and further modifications of the
described or illustrated embodiments, and any further applications
of the principles of the disclosure as illustrated therein are
contemplated as would normally occur to one skilled in the art to
which the disclosure relates.
[0291] The foregoing description of the exemplary embodiments has
been presented only for the purposes of illustration and
description and is not intended to be exhaustive or to limit the
inventions to the precise forms disclosed. Many modifications and
variations are possible in light of the above teaching.
[0292] The embodiments were chosen and described in order to
explain the principles of the inventions and their practical
application so as to enable others skilled in the art to utilize
the inventions and various embodiments and with various
modifications as are suited to the particular use contemplated.
Alternative embodiments will become apparent to those skilled in
the art to which the present inventions pertain without departing
from their spirit and scope. Accordingly, the scope of the present
inventions is defined by the appended claims rather than the
foregoing description and the exemplary embodiments described
therein.
[0293] From the foregoing, it will be understood that various
aspects of the processes described herein are software processes
that execute on computer systems that form parts of the system.
Accordingly, it will be understood that various embodiments of the
system described herein are generally implemented as
specially-configured computers including various computer hardware
components and, in many cases, significant additional features as
compared to conventional or known computers, processes, or the
like, as discussed in greater detail herein. Embodiments within the
scope of the present disclosure also include computer-readable
media for carrying or having computer-executable instructions or
data structures stored thereon. Such computer-readable media can be
any available media which can be accessed by a computer, or
downloadable through communication networks. By way of example, and
not limitation, such computer-readable media can comprise various
forms of data storage devices or media such as RAM, ROM, flash
memory, EEPROM, CD-ROM, DVD, or other optical disk storage,
magnetic disk storage, solid state drives (SSDs) or other data
storage devices, any type of removable non-volatile memories such
as secure digital (SD), flash memory, memory stick, etc., or any
other medium which can be used to carry or store computer program
code in the form of computer-executable instructions or data
structures and which can be accessed by a computer.
[0294] When information is transferred or provided over a network
or another communications connection (either hardwired, wireless,
or a combination of hardwired or wireless) to a computer, the
computer properly views the connection as a computer-readable
medium. Thus, any such a connection is properly termed and
considered a computer-readable medium. Combinations of the above
should also be included within the scope of computer-readable
media. Computer-executable instructions comprise, for example,
instructions and data which cause a computer to perform one
specific function or a group of functions.
[0295] Those skilled in the art will understand the features and
aspects of a suitable computing environment in which aspects of the
disclosure may be implemented. Although not required, some of the
embodiments of the claimed inventions may be described in the
context of computer-executable instructions, such as program
modules or engines, as described earlier, being executed by
computers in networked environments. Such program modules are often
reflected and illustrated by flow charts, sequence diagrams,
exemplary screen displays, and other techniques used by those
skilled in the art to communicate how to make and use such computer
program modules. Generally, program modules include routines,
programs, functions, objects, components, data structures,
application programming interface (API) calls to other computers
whether local or remote, etc. that perform particular tasks or
implement particular defined data types, within the computer.
Computer-executable instructions, associated data structures and/or
schemas, and program modules represent examples of the program code
for executing steps of the methods disclosed herein. The particular
sequence of such executable instructions or associated data
structures represent examples of corresponding acts for
implementing the functions described in such steps.
[0296] Those skilled in the art will also appreciate that the
claimed and/or described systems and methods may be practiced in
network computing environments with many types of computer system
configurations, including personal computers, smartphones, tablets,
hand-held devices, multi-processor systems, microprocessor-based or
programmable consumer electronics, networked PCs, minicomputers,
mainframe computers, and the like. Embodiments of the claimed
invention are practiced in distributed computing environments where
tasks are performed by local and remote processing devices that are
linked (either by hardwired links, wireless links, or by a
combination of hardwired or wireless links) through a
communications network. In a distributed computing environment,
program modules may be located in both local and remote memory
storage devices.
[0297] An exemplary system for implementing various aspects of the
described operations, which is not illustrated, includes a
computing device including a processing unit, a system memory, and
a system bus that couples various system components including the
system memory to the processing unit. The computer will typically
include one or more data storage devices for reading data from and
writing data to. The data storage devices provide nonvolatile
storage of computer-executable instructions, data structures,
program modules, and other data for the computer.
[0298] Computer program code that implements the functionality
described herein typically comprises one or more program modules
that may be stored on a data storage device. This program code, as
is known to those skilled in the art, usually includes an operating
system, one or more application programs, other program modules,
and program data. A user may enter commands and information into
the computer through keyboard, touch screen, pointing device, a
script containing computer program code written in a scripting
language or other input devices (not shown), such as a microphone,
etc. These and other input devices are often connected to the
processing unit through known electrical, optical, or wireless
connections.
[0299] The computer that effects many aspects of the described
processes will typically operate in a networked environment using
logical connections to one or more remote computers or data
sources, which are described further below. Remote computers may be
another personal computer, a server, a router, a network PC, a peer
device or other common network node, and typically include many or
all of the elements described above relative to the main computer
system in which the inventions are embodied. The logical
connections between computers include a local area network (LAN), a
wide area network (WAN), virtual networks (WAN or LAN), and
wireless LANs (WLAN) that are presented here by way of example and
not limitation. Such networking environments are commonplace in
office-wide or enterprise-wide computer networks, intranets, and
the Internet.
[0300] When used in a LAN or WLAN networking environment, a
computer system implementing aspects of the invention is connected
to the local network through a network interface or adapter. When
used in a WAN or WLAN networking environment, the computer may
include a modem, a wireless link, or other mechanisms for
establishing communications over the wide area network, such as the
Internet. In a networked environment, program modules depicted
relative to the computer, or portions thereof, may be stored in a
remote data storage device. It will be appreciated that the network
connections described or shown are exemplary and other mechanisms
of establishing communications over wide area networks or the
Internet may be used.
[0301] While various aspects have been described in the context of
a preferred embodiment, additional aspects, features, and
methodologies of the claimed inventions will be readily discernible
from the description herein, by those of ordinary skill in the art.
Many embodiments and adaptations of the disclosure and claimed
inventions other than those herein described, as well as many
variations, modifications, and equivalent arrangements and
methodologies, will be apparent from or reasonably suggested by the
disclosure and the foregoing description thereof, without departing
from the substance or scope of the claims. Furthermore, any
sequence(s) and/or temporal order of steps of various processes
described and claimed herein are those considered to be the best
mode contemplated for carrying out the claimed inventions. It
should also be understood that, although steps of various processes
may be shown and described as being in a preferr